Sd700 Servo Manual

Contents
Contents
Contents .............................................................................................................................................. I
1 Abstract ....................................................................................................................................... 1
1.1 Series Introduction ............................................................................................................ 1
1.2 Name of Each Part of the Servo Drive .............................................................................. 1
1.3 Basic Information of Servo Unit ........................................................................................ 2
1.4 System Diagram.............................................................................................................. 10
1.5 System Configuration Example ....................................................................................... 11
1.6 Drive Nomenclature ........................................................................................................ 12
1.7 Maintenance and Inspection of Servo Unit ..................................................................... 13
1.8 Motor Nomenclature........................................................................................................ 14
1.9 Motor Nomenclature........................................................................................................ 16
2 Panel operation ......................................................................................................................... 25
2.1 Basic Operation............................................................................................................... 25
2.2 Auxiliary Functions Operation of Fn group...................................................................... 26
2.3 Parmeter Pn Group’s Operation...................................................................................... 27
2.4 Operations of Monitoring Display Un Group ................................................................... 27
3 Wiring and Connections ............................................................................................................ 29
3.1 Main Circuit Wiring .......................................................................................................... 29
3.2 Motor Power Line Connection ......................................................................................... 33
3.3 CN2 Encoder Connection ............................................................................................... 35
3.4 Brake Wire Connection ................................................................................................... 35
3.5 CN7 USB Communication Terminal ................................................................................ 37
3.6 Connection of CN6A and CN6B Communition Terminal ................................................. 37
3.7 CN5 Full Closed Loop Port ............................................................................................. 38
3.8 Definition of CN1 Terminal .............................................................................................. 39
3.9 Switch-Value Input Signal ............................................................................................... 40
3.10 Switching Output Signal ................................................................................................ 44
3.11 Connection with the Upper Device ................................................................................ 45
3.12 Position Control Wiring Diagram ................................................................................... 51
3.13 Speed Control Wiring Diagram ..................................................................................... 52
3.14 Torque Control Wiring Diagram ..................................................................................... 53
3.15 Regenerative Resistor Connection ............................................................................... 54
3.16 Noise and High Harmonic Countermeasures ............................................................... 55
4 Trial operation ............................................................................................................................ 56
4.1 Inspections and Notes before Trail Operation ................................................................ 56
4.2 JOG trail operation .......................................................................................................... 56
5 Operation ................................................................................................................................... 57
5.1 Basic Functions................................................................................................................. 57
5.2 Position Mode ................................................................................................................... 66
5.3 Speed Mode...................................................................................................................... 75
5.4 Torque Mode ..................................................................................................................... 82
5.5 Hybrid Control Mode Selection ......................................................................................... 86
I SD700 Series Servo Technical Manual

Contents
5.6 Other Output Signals ........................................................................................................ 88

5.7 Timing Sequence .............................................................................................................. 90
5.8 Full closed-loop control ..................................................................................................... 92
6 Adjustment ................................................................................................................................ 100
6.1 Adjustments .................................................................................................................... 100
6.2 Robust Control ................................................................................................................ 103
6.3 Inertia Recognition .......................................................................................................... 105
6.4 Intelligent Setting ............................................................................................................ 106
6.5 Bandwidth Setting ........................................................................................................... 109
6.6 Manual Adjustment Function .......................................................................................... 112
7 Accessibility ............................................................................................................................. 121
7.1 List of Auxiliary Functions ............................................................................................... 121
7.2 Displaying Alarm Logs (Fn000) ........................................................................................ 121
7.3 Clear Alarm Record (Fn001) ............................................................................................ 122
7.4 Software Reset (Fn002) ................................................................................................... 122
7.5 Restoring Factory Parameters (Fn003) ............................................................................ 123
7.5.1 Overview........................................................................................................................ 123
7.6 JOG Operation (Fn005) .................................................................................................... 123
7.7 Program JOG Operation (Fn006) ..................................................................................... 124
7.8 Automatic Adjustment of Instruction Offset (Fn100) ......................................................... 125
7.9 Speed command Offset Manual Adjustment (Fn101) ...................................................... 125
7.10 Profile Torque command Offset Manual Adjustment (Fn102) ...................................................126
7.11 Current Offset Automatic Adjustment (Fn103) ...............................................................................126
7.12 Current Offset Manual Adjustment (Fn104) ....................................................................................127
7.13 Initializing the Detection Value of Vibration Detection (Fn105) ................................................128
7.14 Bandwidth Settings (Fn303).................................................................................................................129
7.15 EasyFFT (Fn401) ....................................................................................................................................129
7.16 Online Vibration Monitoring (Fn402) .................................................................................................130
8 Function Code Instructions ....................................................................................................... 131
8.1 The principle of origin return function ............................................................................. 131
8.2 Origin return function code ............................................................................................. 133
8.3 Origin return method ....................................................................................................... 134
9 Internal location ....................................................................................................................... 170
9.1 Internal multi-stage position control function code parameter setting ............................ 170
9.2 Internal multi-stage position control related function codes ............................................ 171
9.3 Multi-speed function operating parameters .................................................................... 182
9.4 Interrupt function ............................................................................................................. 184
9.5 Overlap function .............................................................................................................. 188
9.6 Stop function ................................................................................................................... 189
9.7 Jump function.................................................................................................................. 189
9.8 Jog function..................................................................................................................... 190
10 Function Code Instructions .................................................................................................... 192
10.1 Basic Control Related Pn0 Group Parameters ............................................................. 192
10.2 Gain Related Pn1 Group .............................................................................................. 198
10.3 Position Related Pn2 Group Parameters ..................................................................... 203
10.4 Speed Related Pn3 Group Parameters ........................................................................ 210
II SD700 Series Servo Technical Manual

10.5 Torque Related Pn4 Group Parameters ....................................................................... 212
10.6 Jogging Related Parameters ........................................................................................ 215
10.7 Switch Configuration Related Pn6 Group Parameters ................................................. 216
10.8 Pn7 Expansion Related Parameters ............................................................................ 219
10.9 Pn8 group internal position/origin return parameters ................................................... 221
11 Monitoring Parameters .......................................................................................................... 227
12 Fault Code and Countermeasures ........................................................................................ 231
12.1 Fault Code .................................................................................................................... 231
12.2 Warning Code ............................................................................................................... 238
13 Communication...................................................................................................................... 239
13.1 Communication introduction ......................................................................................... 239
13.2 RS485 communication protocol description ................................................................. 239
13.3 Communication frame structure ................................................................................... 239
13.4 Command code and communication data description ................................................. 240
13.5 Communication frame error check mode: .................................................................... 242
13.6 Error message response .............................................................................................. 242
14 Host Debugging Instruction ................................................................................................... 243
14.1 System Requirements .................................................................................................. 243
14.2 Main Interface ............................................................................................................... 244
14.3 Features ........................................................................................................................ 245
14.4 Real-Time Monitoring ................................................................................................... 249
14.5 Auxiliary Functions ........................................................................................................ 249
14.6 Digital Oscilloscope ...................................................................................................... 258
14.7 Others ........................................................................................................................... 265
III SD700 Series Servo Technical Manual

1 Abstract
1 Abstract
1.1 Series Introduction
SD700 series servo drives are mainly used for the occasion of high speed, high frequency and high positioning
accuracy. The servo unit can maximize the performance of the machine in the shortest time, which can improve the
production efficiency. In terms of communication, it supports EtherCAT, MECHATROLINK-II, MECHATROLINK-III,
CANopen, RS-485 and other mainstream field buses in the market. At the same time, it also has non-standard application
functions such as full closed-loop, electronic cam, flying shear, gantry synchronization and so on. USB can be connected
to the host computer for debugging, which is convenient and fast.
1.2 Name of Each Part of the Servo Drive

Top full-closed
loop port
Heat sink
Rotate the
keyboard cover
Digital display tube

Servo nameplate Operation
keyboard
Power Indicator Host computer
micro USB
Main circuit
power Communication
RJ45
Control power
Braking unit Multi-function

control
port
Motor power
Main circuit power
Motor
protection cover
encoder
Safety line
grounding port
1 SD700 Series Servo Technical Manual

1 Abstract
1.3 Basic Information of Servo Unit
Installation Dimensions (Part of the models)
External size(mm) Installation size(mm)

Installation
Structure Machine model
aperture
W H D W1 W2 H1 H2 A B
SD700-1R1A-**
SIZE A SD700-1R8A-** 45 168 170 \ 20 160 \ 7.5 5 2-M4
SD700-3R3A-**
SD700-5R5A-**
SD700-7R6A-**
SIZE B SD700-9R5A-** 71 168 180 58 58 160 \ 6.5 5 3-M4
SD700-2R5D-**
SD700-3R8D-**
SD700-120A-**
SD700-160A-**
SIZE C SD700-6R0D-** 92.5 188 182 82.5 75 180 \ 5 5 3-M4
SD700-8R4D-**
SD700-110D-**
SD700-170D-**
SIZE D SD700-240D-** 120 260 210 100 84.5 250 236 \ \ 4-M5
SD700-300D-**

1 Abstract
External size(mm) Installation size(mm)

Installation
Structure Machine model
W H D W1 W2 H1 H2 aperture
SD700-500D-**
SIZE E 210 471 254 140 140 457 434.5 4-M6
SD700-600D-**
SD700-700D-**
SIZE F SD700-800D-** 240 558 310 176 176 544 520 4-M6
SD700-121D-**

1 Abstract
Installation Method
150mm 150mm 150mm
30mm
30mm 30mm 30mm 30mm
150mm
150mm 150mm
Single installation
单台安装空间 Multiple
多台安装空间 installation
In order to ensure effective cooling by fans and natural convection, please leave
！ enough space around the drive for heat dissipation during installation. To ensure
a good heat dis sipation effect, please install a fan above the cabinet where the
Cautions
drive is installed to draw out air. The heat dissipation duct in the body is the air
inlet under the cabinet and the air outlet above.

1 Abstract
Specifications and Electrical Parameters
AC SERVO DRIVE
MODLE SD700-3R3A-PA IP20
1PH 200V-240V 50Hz/60Hz
MAIN 1PH:5.6A
INPUT
CONT 1PH 200V-240V 50Hz/60Hz
Scan to know
OUTPUT 3PH 0V-240V 0Hz-500Hz 3.3A details
SER NO
请务必按照使用说明书的指示操作.
危险 Must read the manual before installing.
本产品有内置电机过热保护回路.
DANGER Motor overtemerature protection is not provided.
断电10分钟内，以及CHARGE充电指示灯未
熄灭,请勿触摸电源端子部位,有触电危险.
Risk of electric shock. Don't touch power terminals
警告 for 10 minutes after turning OFF or CHARGE
WARNING indicator is lit.
为了防止触电，必须连接好地线.
Never fail to connect protective Earth( ) terminal.
注意请勿触摸散热器，有烫伤的危险.
Hot surface-risk of burn. Don't touch heatsink.
CAUTION
400-600-0303
苏州伟创电气科技股份有限公司
Suzhou Veichi Electric Co.,Ltd. MADE IN CHINA
Drive specification 1R1A 1R8A 3R3A 5R5A 7R6A 9R5A 2R5D 3R8D
Cabinet volume A B
Continuous output
1.1 1.8 3.3 5.5 7.6 9.5 2.5 3.8
current Arms
Maximum output current
3.9 6.3 11.6 16.5 22.8 23.8 7.5 11.4
Arms
Drive specification 2R5D 3R8D 6R0D 8R4D 110D 170D 240D 300D
Cabinet volume C D
Continuous output
2.5 3.8 6 8.4 11 17 24 30
current Arms
7.5 11.4 18 25.2 27.5 42.5 60 70
Arms
Drive specification 500D 600D 700D 800D 121D - - -
Cabinet volume E F
Continuous output
50 60 70 80 120 - - -
current Arms
115 120 140 160 240 - - -
Arms

1 Abstract
Basic specifications
Project Specification
IGBT PWM control sine wave current drive
Control mode
mode
Serial encoder: 17-bit, 23-bit, 24-bit absolute
Rotary servo motor combination
Feedback encoder
Linear servo motor combination Incremental grating scale, parallel signal
-5 ° C to 55 ° C (55 ° C to 60 ° C, can be used
Ambient temperature
after lowering the rated value)
Storage temperature -20 ° C ~ 85 ° C
Use ambient humidity 95% RH or less (no freezing, condensation)
Storage humidity 95% RH or less (no freezing, condensation)
Vibration resistance 4.9m/s2
Impact strength 19.6m/s2
Protection level Level IP20
Environmental
Non-corrosive gas, flammable gas
conditions
Water, oil, and chemical splashes.
Cleanliness
Environments with less dust, dust, salt, and
metal powder.
1000m or less (1000m to 2000m, it is necessary
Altitude
to lower the rated value)
No static interference, strong electric field,
Other
strong magnetic field, radiation, etc.
Applicable standard IEC61800-2/-3/-5、 IEC61000-2/-3/-4
Base mounting type Standard
Installation type Need to add
Shelf mounting type
accessories
1:5000 (the lower limit of the speed control
Speed control rage range is the value under the condition that the
rated torque load is not stopped)
± 0.01% of rated speed (load fluctuation: 0%
Load fluctuation to 100%)
Speed ± 0.01% of rated speed (voltage fluctuation: ±
Performance Voltage fluctuation 10%)
volatility
± 0.1% of rated speed (temperature
Temperature fluctuation fluctuation: 25 ° C ± 25 ° C)
Torque control accuracy (reproducibility) ± 1%
0s to 30s (acceleration and deceleration can be
Soft start time setting
set separately)
Phase A, Phase B, Phase C: Linear Drive
Encoder divided pulse output Output
Number of divided pulses: can be set arbitrarily
Operating voltage range: DC5 V ± 5%
Input and output
Input points: 1 point
signal Fixed input
Sequence input Encoder absolute value data requires input
signal (SEN) signal
Assignable input Operating voltage range: DC24V ± 20%
signal Input points: 9 points

1 Abstract
Input method: common collector input, common

emitter input
• Servo ON (/S-ON)
• Positive limit (P-OT), negative limit (N-OT)
• Alarm Clear (/ALM-RST)
• Manual PI-P Control (/P-CON)
• Torque limit switching (/TLC)
• Motor rotation direction switching input (/SPD-
D) signal
• Internal set speed switching (/SPD-A, /SPD-B)
• Control mode switching (/C-SEL)
• Zero fixed (/ZCLAMP)
• Command pulse inhibit (/INHIBIT)
• Gain switching (/G-SEL)
• Command pulse input override switching
(/PSEL)
(For the detailed list of assignable input signals,
see 3.9 switch input signals
The assignable signal can change the positive /
negative logic)
Operating voltage range: DC5V ~ DC30V
Fixed output Output points: 1 point
Output signal: servo alarm (ALM)
Operating voltage range: DC5V ~ DC30V
Output points: 3 points
(3 points, output mode: optocoupler output
(isolated))
• Positioning completed (/COIN)
• Speed consistent detection (/V-CMP)
• Rotate checkout (/TGON)
Sequential output
• Servo ready (/S-RDY)
signal • Torque limit detection (/CLT)
Assignable output
• Speed limit checkout (/VLT)
signal
• Brake (/BK)
• Warning (/WARN)
• Positioning close (/NEAR)
• Command pulse input override switching
output (/PSELA)
(For the detailed list of assignable output
signals, see 3.10 switch output signals
The assignable signal can change the positive /
negative logic)
RS-485 Standard
Bus
Communication CANopen Optional
communication
function M-II Optional
（CN6）
M-III Optional

1 Abstract
EtherCAT Optional
USB Computer host computer, standard, micro-

Connecting device
communication USB(android USB port)
Communication
(CN7) specification Compliant with USB2.0 specification (12Mbps)
Display function CHARGE, 8-segment LED × 5 digits
Panel operator function Button switch × 4
Main circuit power OFF, servo alarm, servo
Dynamic brake (DB)
OFF, overtravel (OT) action
Regeneration treatment Function can be built in / external
Dynamic brake (DB) stop, deceleration stop or
Overtravel (OT) prevention free running stop when P-OT and N-OT input
action
Over current, over voltage, under voltage,
Protective function overload, regenerative fault, encoder
disconnection, etc.
Gain adjustment, alarm recording, JOG
Accessibility
operation, origin search, etc.
0s to 30s (acceleration and deceleration can be
Soft start time setting
set separately)
Maximum input voltage: ± 10V (motor

forward rotation when positive voltage
Command voltage command)
Input signal • Rated speed at DC6V [factory setting]
Speed Input gain setting can be changed
control
Input resistance About 66kΩ
Loop time parameter 30μs
Direction of rotation Use /SPD-D signal selection
Internal set Use SPD-A/SPD-B signal input (1st to
speed 3rd speed selection)
Speed selection
control When both sides are off, the internal
Control
speed is 0 and the servo stops
Feedforward
0% ～ 100%
compensation
Output signal positioning
0 ～ 1073741824 Command unit
complete width setting
Choose one of the
following:
Position
Symbol + pulse
control Command
sequence, CW +
Input Instruction pulse form
CCW pulse sequence,
Signal Pulse
90° phase difference
two-phase pulse
Linear drive, open
Input form
collector

1 Abstract
• Line drive
Symbol + pulse
sequence, CW+CCW
pulse sequence:
4Mpps
two-phase pulse:
Maximum 1Mpps
input
frequency • Open collector
Symbol + pulse
sequence, CW+CCW
pulse sequence:
200kpps
two-phase pulse:
200kpps
Input
magnification 1 to 100 times
switching
Position deviation
clear
Clear signal
Support linear drive,
open collector
• Maximum input voltage: ±10V (for
forward torque output during positive
Command voltage voltage command)
Torque Input
• Rated torque at DC3V [factory setting]
Control Signal
Input gain setting can be changed
Input resistance About 66kΩ
Loop time parameter 16μs

1 Abstract
1.4 System Diagram
B1/⊕ B2 B3 Fan
Servo motor
L1 Rheost U
at
V
Main L2 Cha
circuit rge M
power W
L3
Over-temperature/current
Dynamic
protection
2 brake circuit
Delay Drive Voltage Temperature Gate Current

ENC
sampling sampling drive sampling
CN2
L1C Rheostat Bus encoder
Control interface
Control L2C power
power
Command pulse
CN1 input
ARM+FPGA
Encoder divider
pulse output
Command
A/D voltage input
Input and
Panel operator I/O output signals
CN7 CN6 CN5
MicroUSB Dual RJ45 bus interface Full-closed loop and 2500 line interface

1 Abstract
1.5 System Configuration Example

1 Abstract
1.6 Drive Nomenclature
SD700-3R3A-PA*
A B C D E FG
Field ID Field Explanation

A SD：Servo product code
B 700：Product series
Current class：
1R1：1.1A 1R8：1.8A 3R3：3.3A

5R5：5.5A 7R6：7.6A 9R5：9.5A
2R5：2.5A 3R8：3.8A 6R0: 6A
C
8R4：8.4A 110：11A 170：17A
240：24A 300：30A 500：50A
600：60A 700：70A 800：80A
121：120A
Input voltage class：

D
A：220VAC；D：400VAC
Machine type：
E P: pulse type; S: standard type; C: CAN open bus type; N: Ether CAT bus type; M: MECHATROLINK-II bus
type; L: MECHATROLINK-III bus type; F: Multi I / O type
Supported encoder types：
F
A Absolute type
G Product management number, standard product default.
Different functions between different types：
16-bit Full MECHATROLI MECHATROLI
Input CAN Ether
Code model analog closed RS485
pulse open CAT NK Ⅱ NK Ⅲ
value loop
P Pulse type √ × √ √ × × × ×
S Standard type √ √ √ √ √ × × ×
C CAN type √ × √ √ √ × × ×
N Ether CAT type × × √ √ × √ × ×
MECHATROLINK Ⅱ
M × × √ √ × × √ ×
type
MECHATROLINK Ⅲ
L × × √ √ × × × √
type
F Multi I / O type √ × √ √ × × × ×
*1.M-II type refers to the servo unit interface specification for MECHATROLINK-II communication command type
*2.M-III type refers to the servo unit interface specification for MECHATROLINK-III communication command
type
Note: Pulse and CANopen type servo are equipped with 12-bit analog quantity as standard.

1 Abstract
1.7 Maintenance and Inspection of Servo Unit
The servo system is made up of many parts. The equipment performs its functions only when all the parts work
properly. In mechanical parts and electronic parts, some parts need to be maintained depending on the conditions of use.
It must be regularly checked or replaced according to the service-time to ensure that the servo motor and servo drive can
operate normally for a long time.
Overhaul of Servo Motor

Since the AC servo motor does not have the electric brush so that only a simple daily maintenance is required. The
maintenance period in the table is a rough standard. Please judge and determine the most appropriate time for repair
according to the conditions of use and use environment.
Inspect The essentials of inspection and

Inspect items Notes
time maintenance
Vibration and sound No increase compared
every day Tactile and auditory judgments
confirmation to usual
According to Erasing with a cloth or cleaning with
Appearance overhaul -
the insult an air gun
Disconnect the servo unit and When it is 10MΩ or less,
Insulation resistance At least once measure the insulation resistance please contact our
measurement a year with a 500V megger. Resistance maintenance
value exceeding 10MΩ is normal department.
At least once
Only servo motor with oil
Replacement of oil seals every 5000
seal.
hours
Please contact our agents or
At least once
technical support.
Comprehensive every 20,000
-
maintenance hours or 5
years
Overhaul of Servo Drive

Although the servo drive unit does not require daily inspections, it should be overhauled more than once a year.
Maintenance
Inspect time The essentials of inspection and maintenance Notes
project
Erasing with a cloth
Appearance
No garbage, dust, oil traces, etc. or cleaning with an
maintenance more than once a
air gun
year
Wiring board, connector mounting screws and so
Loose screws Please tighten
on must not loosen
Approximate Standards for Changing Internal Parts of Servo Units

Electrical and electronic parts are subject to mechanical wear and aging. To ensure safety, please do regular
inspections. In addition, please refer to the following table for the standard number of years of replacement, and contact
our agency or sales office. After the inspection, we will judge whether we need to replace the parts. The servo unit serviced
by our company has its user parameters adjusted back to the factory settings. Be sure to reset the user parameters before
use by yourself.

1 Abstract
Standard replacement
Parts’ name Conditions of use
period
Cooling fan 4～5 years
Smoothing capacitor 7～8 years

Ambient temperature: annual average
According to actual use 30° C
Relay
conditions Load rate: 80% or less
Operating rate: 20 hours or less
Aluminum electrolytic capacitors on
5 years
printed circuit boards
1.8 Motor Nomenclature
VM7-L06A-1R015-D1*
A B C D E F G H I
Field identification Detailed description

Product series:
A VM7
VM5
Inertia level:
L：Low
B
M：Medium
H：High
Mounting flange:
04:40mm 11:110mm
06:60mm 13:130mm
C
08:80mm 18:180mm
10:100mm 20:200mm
26:263mm
Rated voltage:
D
A：220VAC；D：400VAC； F：110VAC

1 Abstract
Field identification Detailed description
Rated power:
R05：50W R10：100W R20：200W R40;400W
R60:600W
R75:750W R85：850W 1R0：1.0kW 1R2;1.2kW 1R3:1.3kW

E
1R5:1.5kW 1R8:1.8kW 2R0：2.0kW 2R3：2.3kW 2R6：2.6kW
2R9:2.9kW 4R4:4.4kW 5R5:5.5kW 7R5:7.5kW 011:11kW
015:15kW 020:20kW 022:22kW 030:30kW 037：37kW
045:45kW 055:55kW
Rated speed (RPM)
15：1500
F 20：2000
25：2500
30：3000
Encoder type:
D：23-Bit multi-turn absolute value optical coding
G E:24-Bit multi-turn absolute value optical coding
Q：17-Bit single-turn absolute value magnetic coding
R：17-Bit multi-turn absolute value magnetic coding
Shaft type:
H 1：Key shaft, with threaded hole, with oil seal, without band brake
2：Key shaft, with threaded hole, with oil seal, with band brake
I Internal management number

1 Abstract
1.9 Motor Nomenclature
60 flange motor：
U n i t：m m
M ot or m o de l L LL LR S U W T QK
V M 7-L 06A- R2030-□ 1 116 86 30 14 3 5 5 22.5
V M 7-L 06A- R2030-□ 2 153 123 30 14 3 5 5 22.5
V M 7-L 06A- R4030-□ 1 138 108 30 14 3 5 5 22.5
V M 7-L 06A- R4030-□ 2 175 145 30 14 3 5 5 22.5
V M 7-L 06A- R6030-□ 1 162 132 30 14 3 5 5 22.5
V M 7-L 06A- R6030-□ 2 194 164 30 14 3 5 5 22.5

1 Abstract
80 flange motor：
U n it：m m
Mo tor model L LL LR S U W T QK
V M 7-L 08 A-R 7530-□ 1L 151 116 35 19 3.5 6 6 25
V M 7-L 08 A-R 7530-□ 2L 194 159 35 19 3.5 6 6 25
V M 7-L 08 A-R 7530-□ 1 151 116 35 19 3.5 6 6 25
V M 7-L 08 A-R 7530-□ 2 194 159 35 19 3.5 6 6 25
V M 7-M0 8A-R 7530-□ 1L 161 126 35 19 3.5 6 6 25
V M 7-M0 8A-R 7530-□ 2L 205 170 35 19 3.5 6 6 25
V M 7-M0 8A-R 7530-□ 1 161 126 35 19 3.5 6 6 25
V M 7-M0 8A-R 7530-□ 2 205 170 35 19 3.5 6 6 25
V M 7-L 08A-1R 030-□ 1 174 139 35 19 3.5 6 6 25
V M 7-L 08A-1R 030-□ 2 207 172 35 19 3.5 6 6 25

1 Abstract
110 flange motor：
U n i t：m m
Motor model L LL LR S U W T QK
VM 7-M 11A- 1R230 -□1 193 137 56 19 3.5 6 6 40
VM 7-M 11A- 1R230 -□2 227 17 1 56 19 3.5 6 6 40
VM 7-M 11A- 1R530 -□1 213 157 56 19 3.5 6 6 40
VM 7-M 11A- 1R530 -□2 247 19 1 56 19 3.5 6 6 40
VM 7-M 11A- 1R830 -□1 218 1 62 56 19 3.5 6 6 40
VM 7-M 11A- 1R830 -□2 252 196 56 19 3.5 6 6 40

1 Abstract
130 flange motor：
U n it：m m
Mot or model L LL LR S U W T QK
VM 7- M13 □- R 8515-□ 1 192 137 55 22 4 8 7 36
VM 7- M13 □- R 8515-□ 2 229 174 55 22 4 8 7 36
VM 7- M13 □- 1R 020-□1 192 137 55 22 4 8 7 36
VM 7- M13 □- 1R 020-□2 229 174 55 22 4 8 7 36
VM 7- M13 □- 1R 520-□1 207 152 55 22 4 8 7 36
VM 7- M13 □- 1R 520-□2 244 189 55 22 4 8 7 36
VM 7- M13 □ -1R 815-□ 1 222 167 55 22 4 8 7 36
VM 7- M13 □- 1R 815-□ 2 259 204 55 22 4 8 7 36
VM 7- M13 □- 2R 020-□1 222 167 55 22 4 8 7 36
VM 7- M13 □- 2R 020-□2 259 204 55 22 4 8 7 36

VM 7- M13 □- 2R 315-□1 L 257 202 55 22 4 8 7 36
VM 7- M13 □- 2R 315-□2 L 299 244 55 22 4 8 7 36
VM 7- M13 □- 2R 625-□1 L 222 167 55 22 4 8 7 36

VM 7- M13 □- 2R 625-□2 L 259 204 55 22 4 8 7 36
VM 7- M13 □- 3R 825-□1 272 217 55 22 4 8 7 36
VM 7- M13 □- 3R 825-□2 314 259 55 22 4 8 7 36

1 Abstract
180 flange motor：
Un i ：
t m m
VM 5- M1 8D- 2R 915-□1 264 185 79 35 5 10 8 65
VM 5- M1 8D- 2R 915-□1H 264 185 79 35 5 10 8 65
VM 5- M1 8D- 2R 915-□2 325 246 79 35 5 10 8 65
VM 5- M1 8D- 2R 915-□2H 325 246 79 35 5 10 8 65
VM 5- M1 8D- 4R 415-□1 288 209 79 35 5 10 8 65
VM 5- M1 8D- 4R 415-□1H 288 209 79 35 5 10 8 65
VM 5- M1 8D- 4R 415-□2 371 292 79 35 5 10 8 65
VM 5- M1 8D- 4R 415-□2H 371 292 79 35 5 10 8 65
VM 5- M1 8D- 5R 515-□1 325 246 79 35 5 10 8 65
VM 5- M1 8D- 5R 515-□2 371 292 79 35 5 10 8 65
VM 5- M1 8D- 7R 515-□1 371 292 79 35 5 10 8 65
VM 5- M1 8D- 7R 515-□2 427 348 79 35 5 10 8 65

1 Abstract
200 flange motor：
U n it：m m
VM 7-M 20D -01115 -□1F N 451 369 82 42 4 12 8 70
VM 7-M 20D -01515 -□1F N 488 406 82 42 4 12 8 70
VM 7-M 20D -02015 -□1F N 560 478 82 42 4 12 8 70
VM 7-M 20D -02215 -□1F N 607 525 82 42 4 12 8 70
Note 1: 200 flange motor grounding plate set (optional)

Model: SI18 Material code: 6010000008

1 Abstract
263 flange motor：
U n it：m m
VM 7- M 26D- 03015-□ 1FN 640 530 110 48 4.5 14 9 90
VM 7- M 26D- 03715-□ 1FN 684 574 110 48 4.5 14 9 90
VM 7- M 26D- 04515-□ 1FN 727 617 110 48 4.5 14 9 90
VM 7- M 26D- 05515-□ 1FN 795 685 110 48 4.5 14 9 90
Note 2: 263 flange motor grounding plate set (except vm7-m26d-05515, other models are optional)
Model：S25F Material code：2800050433

1 Abstract
130 flange B shaft motor：
U n i t：m m
VM7- M 13□ -R 8515-□ B 19 2 137 55 19 3.5 6 6 25
VM7- M 13□ -R 8515-□ B 229 174 55 19 3.5 6 6 25
VM7- M 13□ -1 R815-□ B 222 167 55 24 4 8 7 36
VM7- M 13□ -1 R815-□ B 259 204 55 24 4 8 7 36

1 Abstract
180 flange B shaft motor：
VM5-M18D-5R515-□1BH 359 246 113 42 5 12 8 96
VM5-M18D-5R515-□2BH 405 292 113 42 5 12 8 96
VM5-M18D-7R515-□1BH 405 292 113 42 5 12 8 96
VM5-M18D-7R515-□2BH 461 348 113 42 5 12 8 96

2 Panel operation
2 Panel operation
2.1 Basic Operation
2.1.1 Keys’ Names and Functions of the Panel Operator

The panel operator consists of panel monitor and keys.
The panel operator could display condition, operate the accessory functions, set parameters and monitor the
motions of the drive unit.
The panel operator keys’ names and functions are shown as below:
MODE DATA
SET
Keys’ name Functions

Shift the function modes
MODE/SET key Confirm parameter settings
Operate the accessory functions
UP key Select parameters up or increase the value, switch between high, medium, and low
segment values in multiple segment display parameters
Select parameters down or decrease the value, switch between high, medium, and low
▼ DOWN key
segment values in multiple segment display parameters
DATA/SHIFT Press and hold the DATA/SHIFT button for about 1 second to enter or exit
key Short press to move to the left one (when flashing)
！
Caution
Pressing the Up and Down keys at the same time could reset the drive alarm,
but remember to exclude causes of the alarm before reset the drive alarm.

2 Panel operation
2.12 Functions Switch

Press the MODE/SET key, the function will be switched like this shown as below:
MODE/SET
MODE/SET MODE/SET MODE/SET

Status Aux Parameter
Monitoring
display functions s setting
2.1.3 Status Display

The method of judging the status display is as follows:
Displ Meaning Displ

Meaning
ay ay
Means that the input signal(N-OT) is
Means that the drive is OFF
an open circuit
Flashing displays fault code, more
Means that the drive is ON
details on the fault code
Means that the input signal(P- No-motor testing function displays the
OT)is an open circuit running status alternately, more
details in this function
Disp Disp
Meaning Meaning
lay lay
It lights on when the control power It lights on when the main circuit is
is ON and lights off when OFF ON and lights off when OFF
It lights on when the rotation detection
Speed control: speed outputs(/V-
outputs(/TGON)
CMP) are absolutely same
Speed control: it lights on when the
Position control: it lights on when
speed command inputs
the positioning is OK(/COIN)
Position control: it lights on when the
Torque control: it lights on all
position command inputs
the time
Torque control: it lights on when the
It lights on when the drive is OFF torque command inputs
and lights off when ON Position control: it lights on when the
pulse clear signal outputs
2.2 Auxiliary Functions Operation of Fn group
Auxiliary functions are about performing the settings and adjustment of the drive unit. The panel operator displays
the numbers which begin with Fn.
Let’s take the JOG function (Fn005) as an example to explain the operating method of the auxiliary functions:

2 Panel operation
Long press UP：Forward

MODE/SET UP MODE/SET
Any Aux DATA/SHIFT
JOG JOG DOWN: Reversal
JOG
interface functions prepare enable ON
Long press
DATA/SHIFT MODE/SET
JOG JOG
JOG prepare motion
Long press
DATA/SHIFT
2.3 Parmeter Pn Group’s Operation
（1） When the setting range is within 5-digit numbers.
Taking the setting method when the setting value of speed loop gain (PN101) is changed from 40.0 to 100.0 as an
example to illustrate the operation method of parameter group.
Long press Short press

MODE/SET UP UP
Arbitrary Auxiliary DATA/SHIFT
Enter DATA/SHIFT
Speed loop gain Shift
interface function settings
Long press
MODE/SET
DATA/SHIFT
Speed loop Confirm
Flash target value
gain changes
2s
Long press
DATA/SHIFT
（2）When the setting range is beyond 6-digit numbers:
Since the panel operator can only display 5 digits, the setting value above 6 digits is shown in the figure below.
High digit Middle digit Low digit
They appear only when the number is a negative
2.4 Operations of Monitoring Display Un Group
This function could monitor setting command values of the drive unit, the status of input and output signals and
internal conditions of the drive unit. The panel operator displays the numbers which begin with Un, then let’s take this
function as an example to explain the operating method of the monitoring display: when the motor speed (Un000) is
3000rpm:

2 Panel operation
Long press
MODE/SET
Any Aux DATA/SHIFT
Enter into
interface functions monitoring
If you need the digital tube to automatically display relevant information after each power on of the driver, please
set the parameter PN003 (default 0xFFF) as the relevant value. For example, if the drive needs to display the motor
speed automatically after power on, you can set PN003 to 00000 (motor speed). For the setting values corresponding to
each monitoring information, see "monitoring display"

3 Wiring and Connections
3.1 Main Circuit Wiring
3.1.1 Terminals Explanation:

Needle code Signal name Functions
1 L1 (R/L) Main circuit power input
2 L2 (S/N) Main circuit power input
3 L3 (T) Main circuit power input
4 L1C Control power input
5 L2C Control power input
Internal and external braking resistor pins/ DC power supply
6 B1/+
positive,after rectification
7 B2(PB) Energy-consumption braking output
8 B3 Pin of internal brake resistor
9 - Negative of DC power supply
10 U Motor power U phase
11 V Motor power V phase
12 W Motor power W phase
Casing Grounding Safely grounding
！
Caution
T h e A volume main circuit wiring can only be connected to single phase
(provide two terminals), please pay attention to the correct wiring according to
the wiring identification when wiring.

3.1.2 Wiring Diagram

A-volume single-phase wiring diagram
MC  Please make this emergency stop protection

ON OFF ALM circuit.
 Electromagnetic contactor package surge
Breaker absorbing device at both ends.
MC
EMI
L1
Filter
 220V system input voltage range:
L2 AC 220V( -15%)~240(+10%)
 400V system input voltage range:
L1C AC 380V( -15%)~440(+10%)
L2C
B1  When using an external regenerative braking
/+ resistor, connect it by the dotted line in the
figure.
B2
-
Motor
 Please connect the U, V, W, and output of the

U drive correctly according to the motor cable
phase sequence of the servo motor. The wrong
V phase sequence will cause the drive to
malfunction.
W
Yellow
Emergency /green
button  Be sure to ground the servo drive to avoid
electrical damage.
/S-RDY
Surge absorber DC 24V±10%  The 24V power supply for electromagnetic
fuse braking needs to be provided by the user and
CN1
must be isolated from the 12~24V power supply
ALM for the control signal.
DC 12~24V
ALM  Pay attention to the connection of the
(±10%) freewheeling diode. Reversing the positive and
COM- negative poles may damage the driver.

B/C/D-volume three-phase wiring diagram

MC
ON OFF ALM  Please make this emergency stop protection circuit.

 Electromagnetic contactor package surge absorbing
Breaker device at both ends.
E L1
M MC
I L2  220V system input voltage range:
Fil AC 220V( -15%)~240(+10%)
ter L3  400V system input voltage range:
AC 380V( -15%)~440(+10%)
L1C
L2C
B1  Please connect the U, V, W, and output of the drive

/+ correctly according to the motor cable phase
B2 sequence of the servo motor. The wrong phase
sequence will cause the drive to malfunction.
B3  Do not disconnect short wires between B2 and B3
Motor unless using an external regenerative braking
- resistor.
 When using an external regenerative braking
U resistor, disconnect the short wiring between B2
and B3 and connect them by the dotted line in the
V figure.
Yellow/green
 Be sure to ground the servo drive to avoid electrical
Emergency button
damage.
/S-RDY
Surge absorber
DC 24V±10%
 T he 24V power supply for electromagnetic braking
Fuse CN1
needs to be provided by the user and must be
ALM isolated from the 12~24V power supply for the
ALM control signal.
DC 12~24V
(±10%)  Pay attention to the connection of the freewheeling
COM- diode. Reversing the positive and negative poles
may damage the driver.

E/F-volume three-phase wiring diagram
MC
ON OFF ALM  Please make this emergency stop

protection circuit.
Breaker  Electromagnetic contactor
E R package surge absorbing device at
M MC both ends.
I S  400V system input voltage range:
Fil
AC 380V( -15%)~440(+10%)
ter
T
PB  Please connect the U, V, W, and

output of the drive correctly
according to the motor cable
+ phase sequence of the servo
motor. The wrong phase sequence
Motor - will cause the drive to
malfunction.
U  When using external regenerative
resistor, connect according to the
V dotted line in the figure (Pb / +) .
W
.
Yellow/green  Be sure to ground the servo drive
Emergency button to avoid electrical damage
Surge /S-RDY
absorber  The 24V power supply for
DC 24V±10% electromagnetic braking needs to
Fuse CN1 be provided by the user and
must be isolated from the
ALM+
DC ALM
12~24V power supply for the
12V~24V control signal.
(±10%)  Pay attention to the connection
ALM-
of the freewheeling diode.
Reversing the positive and
negative poles may damage the
driver.

3.2 Motor Power Line Connection


3.3 CN2 Encoder Connection
B
A
引脚定义
信号定义 A端针脚号 B端针脚号
编码器电源+5V 1 1 2 3
6 5 编码器电源0V 2 2
1 9
4 3 绝对值编码器电池BAT+ 3 3
8 4
绝对值编码器电池BAT- 4 4
2 1 串行数据SD+ 5 5 7 5
串行数据SD- 6 6 6
PE(屏蔽层）铁壳 7
Note:
1. When welding the encoder, please pay attention to the definition of A-end and B-end pins (as shown in the table
above). The encoder wire uses twisted pair shielded wire, and the shielding layers at both ends of the wire should be
grounded.
2. When using the multi-turn absolute encoder, please pay attention to the positive and negative electrodes of the
battery. It is recommended to use the lithium battery with rated voltage of 3.6V and rated capacity of 2.7AH.
3.4 Brake Wire Connection
Mounting Braking power Mounting Braking power

flange flange
40 Flange 7W 110 Flange 15W
Braking cable model：VB-*-B*

Defination of the braking cable of 40 /60 /80 flange motor with brake
Signal defination Pin number Core color
BAKE+ 1 Orange
BAKE- 2 Grey

Braking cable model：VB-*-D*

Defination of the braking cable of V5 series 180 flange motor with brake(D2)
1 BAKE+ 1 Orange
2 3
BAKE- 2 Grey
Braking cable model：VB-*-C*

Defination of the braking cable of 180 flange motor with brake(E2M)
BAKE+ 1 Orange
BAKE- 2 Grey
！ 110 flange and 130 flange, as well as VM7 series 180 flange
motors with brake hold brake wire and power line together (9
Cautions
pins),we only need to select the matching power line

3.5 CN7 USB Communication Terminal
Note: ordinary Android cable with data transmission function can also be used
Pin number Name Function

1 VBUS External power supply + 5V
2 D- Data-
3 D+ Data+
4 - None
5 GND Signal ground
3.6 Connection of CN6A and CN6B Communition Terminal
According to different models, the definition of the port is different. When using it, you need to confirm the model
before defining the interface. For model identification, please refer to "1.6 driver naming".
The field identification bit E is P: pulse type; S: standard type; C: CANopen bus type.
CN6A/CN6B port defination
Pin number Signal name Function Pin number Signal name Function
1 CANH CAN Data+ 6 -
2 CANL CAN Data - 7 GND 485 Signal ground
3 CANG CAN Signal ground 8 - -
4 485- 485 Data - Shell Shield Shield
5 485+ 485 Data +
The field identification bit E is M：MECHATROLINK-II bus type.
1 SRD+ M-II Data + 6 - -
2 SRD- M-II Data - 7 - -

3 - - 8 - -
4 - - Shell Shield Shield
5 - -
The field identification bit E is E：EtherCAT bus type；L: MECHATROLINK-III bus type.
1 TX+ Data transmission+ 6 RX- Data reception -
2 TX- Data transmission- 7 - -
3 RX+ Data reception + 8 - -

4 - - Shell Shield Shield
5 - -
As for using multiple drivers at the same time, the cascade mode is CN6A in and CN6B out. Failure to follow the
cascade mode of up in and down out may lead to abnormal communication. Please try to ensure that the length of the
cascaded cable is less than 50cm, and the CN6B of the last one should be connected with the terminal resistance (Only
CANopen bus/ Mechatrolink-II bus/ RS-485 bus should be considered with terminal resistance).
3.7 CN5 Full Closed Loop Port
2500 line encoder and full closed loop interface (differential input)
Signal Signal
Pin number Function Pin number Function
name name
Full closed loop
1 EA- 9 - -
signal EA-
Full closed loop
2 EB- 10 - -
signal EB-
Full closed loop
3 EZ- 11 - -
signal EZ-
4 - - 12 - -
5 - - 13
Encoder power
Full closed loop 0V
6 EA+ 14 supply 0V
signal EA+
Full closed loop Encoder power
7 EB+ 15 5V
signal EB+ supply 5V
Full closed loop
8 EZ+ Shell Shield -
signal EZ+

3.8 Definition of CN1 Terminal
/SO1- General
1 SG Signal ground 26 (V-CMP- sequence
Signal /SO2+ General ) control output 2
2 SG 27 (TGON sequence
ground
OC power +) control output 2
General
Requirement 3 PL1 output of /SO2- sequence
28
input of command General (TGON-) control
/SO3+
4 SEN encoder pulse sequence output 2
29 (S-
absolute data control
RDY+)
（SEN） output 3 /SO3- General
Speed
5 V-REF command 30 (S-RDY- sequence
input Servo alarm ) control output 3
6 SG Signal ground 31 ALM+
Pulse output
7 PULS command Servo alarm
32 ALM-
input A phase of output
Pulse
8 /PULS encoder
command 33 PAO
Torque pulse division A phase of
input 9 T-REF command output 34 /PAO encoder pulse
input division output
Signal B phase of
10 SG ground Sign 35 PBO encoder pulse B phase of
11 SIGN division output 36 /PBO encoder pulse
command
input division output
Sign Safe torque
12 /SIGN command 37 STO
limit
input OC power General
Clearance output of sequence
13 PL2 General 38 /SI8
input of command control input
14 /CLR 39 /SI9 sequence
position pulse 8
control input 9
deviation
OC power Clearance /SI3 General General
input of input of /SI0
16 OCP 15 CLR 41 (P- sequence 40 (/S-ON) sequence
command position CON) control input 3 control input 0
pulse deviation
OC power OC input of General

pulse /SI2 General /SI1 sequence
output of 17 OCS 42
18 PL3 direction 43 (N-OT) sequence (P-OT) control input 1
command control input 2
pulse
C phase of
/SI4 General
encoder
C phase of 19 PCO pulse division 44 (/ALM- sequence
encoder /SI5 General RTS) control input 4
20 /PCO output 45 (/P-CL) sequence
pulse division
output Battery(+) of control input 5 /SI6 General
21 BAT+ absolute 46 (/N-CL) sequence
Battery(-) of Power input of
encoder control input 6
absolute sequence
22 BAT- 47 +24VIN control input
encoder
OC output of signal Position output
23 OCZ Z phase Position 48 PSO of absolute
OC input of pulse division encoder
output of
24 OCS pulse 49 /PSO
absolute
clearance General Overheat
encoder
/SO1+ sequence protection
25 (V- control output 50 TH input of linear
CMP+) 1 motor
！ When tightening the screw of cN1 terminal, the torque shall not
Cautions be greater than 0.2N. M, otherwise, the screw will slide

3.9 Switch-Value Input Signal
3.9.1 Input Signal Explanation

Control
Signal name Needle number Function number and description
mode
Control signal of servo motor ON/OFF (power
/S-ON 0x01
on/off)
Prohibited forward rotation When the mechanical
POT 0x02 movement exceeds the movable range, stop the
servo motor drive (over travel prevention function)
Prohibited reverse rotation When the mechanical
NOT 0x03 movement exceeds the movable range, stop the
servo motor drive (over-travel prevention function)
/ALM-RST 0x04 Alarm clear
When the P action command signal is ON, the
speed control loop is switched from PI
/P-CON 0x05
(proportional, integral) control to P (proportional)
control.
Torque limit switching use when changing the
/TLC 0x06
Allocated signal torque limit during operation
(38~46) used to change the direction of motor control in
/SPD-D 0x08
internal speed,
/SPD-A 0x09 When used as internal speed mode, it is used to
Normal select the internal speed command
/SPD-B 0x0A
Control mode switching, it is used as a switching
/C-SEL 0x0B control mode when the control mode is mixed
mode
Zero fixed signal speed mode, it is used as a fixed
/ZCLAMP 0x0C
zero.
Pulse input inhibit when used in position mode, it is
/INHIBIT 0x0D
used as disable pulse input count
Gain switching gain switching to manual gain
/G-SEL 0x0E
switching used as a switching gain
Command pulse input rate switch, when in position
/PSEL 0x10
mode, it is used to switch pulse input rate signal
Use when the sequence signal is input with the control power
supply.
+24VIN 47
Operating voltage range: +11V to +25V (please provide your
own +24V power supply.)
Spare battery connection pin for absolute encoder.
BAT+ 21
Note: do not connect when using an encoder cable with a
BAT- 22
battery pack.
Speed V-REF 5（6） Enter the speed command. Maximum input voltage: ± 10V
PULS 7 Set any of the following input pulse patterns.
/PULS 8 Symbol + pulse sequence
SIGN 11 CW+CCW pulse sequence
Position /SIGN 12 90° phase difference 2-phase pulse
CLR 15
Clear position deviation during position control
/CLR 14
Enter the torque command and the maximum input voltage:
Torque T-REF 9（10）
± 10V

3.9.2 Input Signal Configuration

1. The digital input signal distribution mode is internally fixed (Pn600=0). The function servo unit of each input signal
is internally fixed and cannot be changed. When selecting different control modes, the functions of the pins are different
as shown in the following table:
NO. of CN1 pins

Control mode
（Pn000） 38/
40 42 43 41 44 45 46
39
torque limit switching
Reserved
proportional control
Invalid
0- position control
/P-CON
/TLC
1- analog speed
2- torque control
3- internal speed
command selection
command selection
command direction
4- internal speed
internal speed
internal speed
internal speed
selection
<-> analog speed

/SPD-D
/SPD-A
/SPD-B
A
B
5- internal speed
<-> position
/ALM-RST alarm clear
servo enable
6- internal speed
N-OT reverse limit
P-OT forward limit
<-> torque
7- position <->
Reserved
analog speed
control mode
switching
/C-SEL
8- position <->
/S-ON
torque
9- torque <->
analog speed
/TLC torque limit switching
zero fixed
/ZCLAMP
10- speed <->

speed control with
zero fixed function
command pulse
11- speed <->

prohibition
/INHIBIT
position control with

command pulse
inhibit function
2. The switching input signal distribution mode is the parameter configuration (Pn600=1 default parameter). The
function of each input signal is configured by the user and is set by parameters Pn601~Pn609.
(a) Default setting
Function code NO. of CN1 pins Default function
Pn601 40 0x01: Servo enable

Pn602 42 0x02: Can run in forward direction
Pn603 43 0x03: Can run in reverse direction
Pn604 41 0x05: Manual P, PI control
Pn605 44 0x04: Alarm clear
Pn606 45 0x06: Torque limit switching
Pn607 46 0x07: Reserved
Pn608 39
0x00: Invalid
Pn609 38
(b) Negation
The driver provides reverse input signal switching function in order to facilitate wiring:
1. Take the servo enable (/S-ON) as an example, the default setting is Pn601=0x01. When the signal is ON, the
servo is enabled. When the setting is Pn601=0x101, the servo is disabled when the signal is ON.
2. Take the positive travel limit (POT) as an example, the default setting is Pn602=0x02. When the signal is OFF,
the servo positive stroke limit is set. If the setting is Pn602=0x102, the servo forward stroke limit is released when the
signal is OFF.
！
1. Signal ON: The state when the digital input signal (/S-ON, etc.) is connected to the ground
terminal of the external +24 VIN power supply
2. Signal OFF: The status when the digital input signal (/S-ON, etc.) is disconnected from the
ground terminal of the external +24VIN power supply
Caution 3. The positive travel limit (POT)/negative travel limit (NOT) in the digital input signal is the
OFF valid signal, and the other input signal is the ON effective signal.
c) Always valid
Through the setting of parameters Pn610, Pn611 and Pn612, the configured input signal can always be valid. For
example, when Pn610=0x01 (servo enable), the servo is always in the enabled ON state after power-on, and the external
enable signal (/ S-ON) does not take effect.
！
Caution
If the same function is configured on different pin numbers, Er.040 will be reported
(parameter setting error alarm). Refer to "Diagnostics Codes and Countermeasures" for
related alarms and processing methods.

3.9.3 Confirming the Input Status

The status of the input signal can be checked by input signal monitoring (Un100). The Un100 segment display and
corresponding pin numbers are as follows:
Up：OFF
Down：ON
9 8 7 6 5 4 3 2 1 Codes
Display LED Number of input pin Signal name (factory configuration)

1 CN1-40 /S-ON
2 CN1-41 /P-CON
3 CN1-42 P-OT
4 CN1-43 N-OT
5 CN1-44 /ALM-RST
6 CN1-45 /TLC
7 CN1-46 Reserved
8 CN1-39 Invalid
9 CN1-38 Invalid
The upper SEG (LED) lights up when the input signal is OFF.
The lower SEG (LED) lights up when the input signal is ON.
The value (address: 0XE100) read over the communication is hexadecimal, for example, the read value is 0x1FE. Under
the default input configuration, it means that the input of /S-ON (CN1-40) is ON, that is, servo enable, and the input of
other input pins is OFF.

3.10 Switching Output Signal
3.10.1 Output Signal Explanation

Control Signal
Needle number Function number and explanation
mode name
ON (closed) when the speed of the servo motor is higher than the
/TGON 0x03
set value.
/S-RDY 0x00 ON (closed) when servo ON (/S-ON) signal is acceptable.
/CLT 0x04 Torque limit ON (closed) when the motor output torque is limited.
Usual
In the speed limit, the motor speed is ON after closing the speed
/VLT 0x05
limit (closed).
Brake interlocking, the output of the motor is ON during operation.
/BK 0x06
Refer to “Retaining the brake” for timing details.
Allocate Allocated
/WARN signal 0x07 Warning output
25(+) 26(-)
27(+) 28(-) Consistent speed output ON when the speed of the servo motor is
Speed /V-CMP 0x02
29(+) 30(-) the same as the command speed (closed).
Positioning completed output ON (closed) when the difference
between the command pulse number and the servomotor
/COIN 0x01
movement amount (position deviation) is lower than the position
reach range.
Command pulse override switching can be switched to operate
/PSELA 0x09
with the value of the input command pulse n times (Pn203).
Location Positioning close, output ON (closed) when the difference
between the positioning command pulse number and the servo
/NEAR 0x08
motor movement amount (position deviation) is lower than the
position proximity signal.
PL1 3
PL2 13 Position pulse is power supply for open collector command.
PL3 18
ALM+
31(+) 32(-) OFF (disconnected) at alarm (Output logic can be changed by parameter)
ALM-
PAO 33
Frequency division output A phase signal
/PAO 34
Usual
PBO 35
Frequency division output B phase signal
/PBO 36
PCO 19
Frequency division output C phase signal
/PCO 20
3.10.2 Output Signal Configuration

a) Default configuration
The function of each output signal is configured by the user and is set by parameters Pn613 ~ Pn615. The default
functions are as follows:
Function code CN1 pin number Default function
Pn613 25/26 0x00: Servo ready
Pn614 27/28 0x01: Positioning completed
Pn615 29/30 0x02: Consistent speed

b) Negation
1. General switch output signal inversion function, take the servo ready signal (/S-RDY) as an example, default
setting Pn613=0x00, servo ready and then the output signal is ON; change the setting Pn613=0x100, the servo is ready,
then the output signal is OFF.
2. The alarm output signal (ALM) is the output of the fixed pin number. The default setting is Pn622.1=0. If the servo
alarm occurs, the output signal will be OFF. If the change is set to Pn622.1=1, the servo alarm will output the signal ON.
1. Pn622.1 indicates the first bit of parameter Pn622. Refer to function code parameter explanation for details.
！
2. The signal that is not output is in the "invalid" state. Example speed control, positioning complete (/COIN)
signal is "invalid".
3. If the polarity of the brake signal (/BK) is reversed and used with positive logic, the brake will not be actuated
when the signal line is broken. If you have to use this setting, be sure to check the operation to ensure that there
Caution are no safety issues.
4. When multiple signals are distributed on the same output circuit, the output will be XORed.
3.10.3 Confirming the Output Status

The status of the output signal can be confirmed by the output signal monitor (Un101). The Un101 segment display
and corresponding pin numbers are as follows:
Up：OFF
Down：ON
9 8 7 6 5 4 3 2 1 Codes
Display
The number of input pin Signal name (factory setting)
LED
1 CN1-31、32 ALM
2 CN1-25、26 /S-RDY
3 CN1-27、28 /COIN
4 CN1-29、30 /V-CMP
The upper SEG (LED) lights up when the output signal is OFF.
The lower SEG (LED) lights up when the output signal is ON.
The value read through communication is hexadecimal, for example: the read value is 0X8, and the default output
configuration means that ALM (CN1-31, 32) output is ON, that is, no alarm output. /S-RDY (CN1-25, 26) output is OFF,
that is servo ready. /COIN (CN1-27, 28) output is OFF, that is positioning is completed. / V-CMP (CN1-29 / 30) output is
ON, and the speed is not consistent.
3.11 Connection with the Upper Device
3.11.1 Analog Input Circuit 3

The following describes the 5-6 (speed command input) and 9-10 (torque command input) terminals of the CN1
connector.
Analog signals are speed commands or torque command signals. The input impedance is as follows.

Speed command input: about 66kΩ

Torque command input: about 66kΩ
The maximum allowable input signal voltage is ± 10V
Controller Ser vo drive
5 V-REF
About 66kΩ
6 GND
Twisted pair
9 T-REF
About 66kΩ
10 GND
Conn ect the shield wire

FG
according to the requ irements
The above wiring is an example of wiring during forward rotation.
3.11.2 Position Instruction Input Circuit

The following describes the 7-8 (command pulse input), 11-12 (command symbol input), and 14-15 (clear input)
terminals of the CN1 connector. The output circuit of the command pulse and position deviation clear signal from the host
device may be one of the linear driver output and the open collector output.
Connection example of linear drive output
Shield wire
7 PULSE
PULSE
150Ω
8 /PULSE
11 SIGN
SIGN
150Ω
12 /SIGN
15 CLR
150Ω SIGN
14 /CLR
FG
Host
computer Servo drive
control
The differential pulse input signal voltage is ± 3.3V and the maximum frequency is 4MHz. This signal transmission

method has the best anti-noise capability. It is recommended to use this connection preferentially.
Connection example of open collector output

External 24V power supply:
1.control module is NPN type (common cathode):
Twisted
Shield pair 16 OCP
wire PULSE
2kΩ
Y0 8 /PULSE
17 OCS
2kΩ SIGN
Y1 12 /SIGN
24 OCC
CLR
2kΩ
Y2 14 /CLR
24V
Control module FG
Drive side
side
2.control modules is PNP type (common anode):

Shield wire Twisted wire
Y0 16 OCP
PULSE
2KΩ
8 /PULSE
Y1 17 OCS
2KΩ SIGN
12 /SIGN
Y2 24 OCC
2KΩ CLR
14 /CLR
24V
Control FG
Drive
module
！ If the linear drive input port is used to receive the exter nal 24 V collector ope n circ uit
Cautions input signal, plea se connect a 2K resistor in series to limit the curre nt in the c ircuit,
otherwise, the linear drive input port will be da maged
Internal 15V power supply:

1 control module is NPN type (common cathode):
3 PL1
15V
7 PULSE 1KΩ PULSE
Twisted wire 150Ω
Shield wire
Y0 8 /PULSE
13 PL2
15V
11 SIGN 1KΩ
SIGN
150Ω
Y1 12 /SIGN
18 PL3
15V
1KΩ
15 CLR CLR
150Ω
Y2 14 /CLR
GND
Control
Drive
module FG
2 control modules is PNP type (common anode):
Shield Twiste
wire d wire
Y0 7 PULSE PULSE
150Ω
8 /PULSE
3 PL1
15V
11 SIGN 1KΩ
Y1 SIGN
150Ω
12 /SIGN
13 PL2
15V
Y2 15 CLR 1KΩ
CLR
150Ω
14 /CLR
18 PL3
15V
1KΩ
1 GND
Control
Drive
module FG
3.11.3 Sequence Control Input Circuit

The following describes the 38 to 46 terminals of the CN1 port. Connect via a relay or open collector transistor circuit.
When using a relay connection, select the relay for the minute current. If you do not use a minute current relay, it will
cause poor contact.

Examples for Relay Circuit Examples for Open-Collector Circuits
SERVOPACK SERVOPACK
47 +24VIN 47 +24VIN
 
 
DC24V 4.7KΩ DC24V 4.7KΩ
E.g., /S-ON E.g., /S-ON
Note: The external power supply (DC24V) must have a capacity of 50 mA or more.
The input loop of the servo unit uses a bidirectional optocoupler. Please select the sink circuit connection or
the source circuit connection according to the specifications of the machine.
3.11.4 Sequence Output Loop

Servo unit signal output circuit is the following three kinds:
1.Open collector output circuit
The output signal (SEN, OCZ) is an open collector transistor output circuit. Please receive through optocoupler
circuit, relay circuit or linear receiver circuit.
Optocoupler loop example Relay circuit example

Controller
Controller
VCC VCC
Servo drive Servo drive
SEN SEN
OCZ OCZ
GND GND
Twisted wire
Twisted wire
2.Optocoupler
Linear receiver loopoutput circuit
example
Controller
The brake linkage (/BK), servo alarm (ALM), servo ready (/S-RDY) and other sequence output signals belong to the
VCC
optocoupler output circuit. Connect via relay or line receiver circuit.
Servo drive
SEN
OCZ
GND
Twisted wire

DC24v
Servo motor
RY Emergency
RY button 电机
/BK
Motor
+ DC24V Surge
- absorber
Brake winding
dedicated Breaker
power supply
ALM Enconder
/S-RDY and other
output terminals
3.Linear drive output circuit

The following describes the 33-34 (phase A signal), 35-36 (phase B signal), and 19-20 (phase C signal) terminals
of the CN1 port. The output signal (PAO, /PAO, PBO, /PBO) and the origin pulse signal (PCO, /PCO) of the encoder's
serial data are converted into two-phase (A-phase, B-phase) pulses and output through the line driver output circuit. On
the upper device side, please use a linear receiver circuit.
Servo motor Twisted wire

Using a linear receiver is
PAO equivalent SN75ALS175
220~
470Ω
PAO-
PBO
PBO-
PCO
PCO-
GND GND
Please connect shielded
wire according to the
FG requirements of the
Shelter wire equipment

3.12 Position Control Wiring Diagram
24V power, with built-in

current limiting resistance CN1
OCP
OCP 16
/PULS
OCS *1 PULS 7
VDC24V OC *3
/PULS 8 21 BAT(+) Battery of absolute
/SIGN Differential
command pulse 22 encoder
BAT(-)
input
OCS 17 3.2～4.5V
12～24V power ,with (Max 4Mpps)
external current limiting 11
SIGN
resistance
PULS /SIGN 12
R
/PULS
VDC12 SIGN
CLR 15
～24V 33 PAO A phase of encoder
/SIGN /CLR 14
R 34 /PAO pulse divis ion output
35 PBO Linear receiver:
VDC R *2 B phase of encoder
VDC-1.5 +24V +24VIN 36 /PBO SN75ALS175 or
47 pulse divis ion output
R+68 10mA
12V 1KΩ,1/4W MC3486 of T.I.
24V 2KΩ,1/4W 19 PCO C phase of encoder company
20 /PCO pulse divis ion output
Control mode switch input /C-SEL 38

(Valid while ON) +15V
3 PL1
Command puls e forbidden input /INHIBIT 39
OC power output of
(Valid while ON) 13 PL2 command pulse
Servo ON input /S-ON 40 18 PL3
(Servo ON while signal ON)
1 SG Signal ground
/P-CON 41
P operation command input
(P operates while ON) 25 S-RDY+
Servo ready output (ON
26 S-RDY- while receivable /SON)
/P-OT 42
Forbid FWD driving input
(Forbid driving while OFF)
COIN+
27 Max voltage
/N-OT 43 Position finished
Forbid REV driving input 28 COIN- (ON while finished) of optocoupler
(Forbid driving while OFF) output：
DC 30V
Alarm reset input /ALM-RST 44 29 /V-CMP+ Max current:
(Reset while ON) The speed is consistent DC 50mA
30 /V-CMP+ ON while consistent
Torque limit selection /TLC 45
( According to torque limiting 31 ALM+ Servo alarm output
mode )
32 ALM- OFF while alarm
Connector shell
FG shields are connected with

connector shell.
Frame ground
*1. is twisted shields;
*2. DC24V power should be prepared by user. And double insulation or reinforced insulation equipment should be used for DC24V power.
*3. Connected while using absolute encoder. But never connect backup battery while using encoder cables with battery unit.
*4. Output signal should be received by linear receiver.
Note: while using 24V braker,DC24V power should be separated from the power for input and output signal (CN1). Please prepare other power individually, otherwise, there may
be misoperation of input and output signal while power on.
！ If the input voltage of the linear drive input port is greater than 12V, please
connect the appropriate current limiting resistor in series in the circuit,
Cautions otherwise, the linear drive input port may be damaged.

3.13 Speed Control Wiring Diagram
CN1
V-REF 5
Speed command input
*3 Battery of absolute
（Max input voltage：± 10V） D/A SG 6 21 BAT(+)
22 encoder
A/D BAT(-)
3.2V～4.5V
External torque limit/ T-REF 9

Feedforward torque D/A SG 10
（Max input voltage：± 10V） 33 PAO A phase of encoder
34 /PAO pulse divis ion output Linear
*2 35 PBO B phase of encoder receiver:
+24V +24VIN 47 36 /PBO pulse divis ion output SN75ALS175
19 PCO C phase of encoder or MC3486 of
20 /PCO pulse divis ion output T.I. company

(valid while ON)
Zero-position fixation input /ZCLAMP 39

(Valid while ON)
/S-ON 40
Servo ON Input
(Servo ON while signal ON) 1 SG Signal ground
/P-CON 41
P operation command input
(P operates while ON) 25 S-RDY+ Servo ready output (ON
/P-OT 26 S-RDY- while receivable /SON)
Forbid FWD driving input 42
(Forbidden while OFF) Max voltage
COIN+
27 of
/N-OT 43 Position finished
Forbid REV driving input COIN- (ON while finished) optocoupler
28
(Forbidden while OFF) output：
/ALM-RST 44 DC 30V
Alarm reset input 29 /V-CMP+
The speed is consistent Max current:
(Reset while on) DC 50mA
30 /V-CMP- (ON while consistent)
Torque limit selection /TLC 45
( According to torque limiting
31 ALM+
mode ) Servo alarm output
Connector shell
FG Shields are connected to connector shell

Frame grounded
*1. is the twisted shields
*2. DC24V power should be prepared by user. And double insulation or reinforced insulation equipment should be used for DC24V power.
Note: while using 24V braker,DC24V power should be separated from the power for input and output signal (CN1). Please prepare other power individually, otherwise,
there may be misoperation of input and output signal while power on.

3.14 Torque Control Wiring Diagram
CN1
V-REF 5 *3 Battery of absolute

Speed command input D/ 21 BAT(+)
（Max input voltage：± 10V） A SG 6 22 encoder
BAT(-)
A/ 3.2～4.5V
D
T-REF 9
Torque command input D/
（Max input voltage：± 10V） A SG 10
33 PAO A phase of encoder
34 /PAO pulse divis ion output Linear
*2
+24V +24VIN 47 35 PBO B phase of encoder receiver:
36 /PBO pulse divis ion output SN75ALS175
19 PCO C phase of encoder or MC3486 of
20 /PCO pulse divis ion output T.I. company

(valid while ON)
Zero-position fixation input /ZCLAMP 39

(Valid while ON)
/S-ON 40
Servo ON Input
(Servo ON while signal ON)
/P-CON 1 SG Signal ground
P operation command input 41
(P operates while ON)
25 S-RDY+
/P-OT 42 Servo ready output (ON
Forbid FWD driving input 26 S-RDY- while receivable /SON)
(Forbidden while OFF)
Max
/N-OT 43 27 COIN+ voltage of
Forbid REV driving input Position finished
(Forbidden while OFF) optocoupler
28 COIN- (ON while finished) output：
Alarm reset input /ALM-RST 44 DC 30V
(Reset while on) 29 /V-CMP+ Max
The speed is consistent current:
Torque limit selection /TLC 30 /V-CMP- (ON while consistent) DC 50mA
45
( According to torque limiting
mode ) 31 ALM+
Servo alarm output
Connector shell
FG Shields are connected to connector shell

*1. is the twisted shields Frame grounded
*2. DC24V power should be prepared by user. And double insulation or reinforced insulation equipments should be used for DC24V power.
Note: While using 24V braker,DC24V power should be separated from the power for input and output signal (CN1). Please prepare other power individually,
otherwise, there may be misoperation of input and output signal while power on.

3.15 Regenerative Resistor Connection
When the regenerative energy processing capacity is insufficient, connect an external regenerative resistor as
required to set the regenerative resistor capacity (Pn012) and the regenerative resistor value(Pn013).
3.15.1 Connection of Regenerative Resistors

The driver models 1R1A,1R7A,3R3A,500D,600D,700D,800D,121D have no built-in regenerative resistor. When a
regenerative resistor is externally connected, the resistor is connected to the B1/+ and B2 terminals. Refer to “A single-
phase wiring diagram”. Or it is connected to the + and PB terminals. Refer to “E/F single-phase wiring diagram”
In addition to 1R1A, 1R7A,3R3A,500D,600D,700D,800D,121D, the driver model has a built-in regenerative resistor.
When the internal regenerative resistor does not meet the requirements, a regenerative resistor can be connected to
remove the short wiring between the B2-B3 terminals and connect the external regenerative resistor to the driver. For
B1/+, B2 terminals, refer to "B/C/D volume three-phase wiring diagram".
3.15.2 Selection of Regenerative Resistor
Minimal of Maximal of external

Mode Break resister internal resister
external resister resister resister
SD700-1R1A / 40 400
SD700-1R7A / 40 200
SD700-3R3A / 40 100
SD700-5R5A 40Ω 60W 25 70

380
SD700-7R6A 40Ω 60W 15 50
SD700-9R5A 40Ω 60W 15 40

SD700-120A 30Ω 200W 10 30
SD700-160A 30Ω 200W 10 30
SD700-2R5D 80Ω 60W 80 225
SD700-3R8D 80Ω 60W 55 180
SD700-6R0D 40Ω 60W 35 110
SD700-8R4D 40Ω 60W 25 85
SD700-110D 40Ω 60W 25 70
SD700-170D 30Ω 100W 30 50
SD700-240D 700 30Ω 200W 15 40
SD700-300D 30Ω 200W 15 30
SD700-500D / 10 20
SD700-600D / 10 20
SD700-700D / 10 15
SD700-800D / 10 15
SD700-121D / 8 12
Note: When external braking resistor is needed, please select the resistance value of the braking resistor

according to the above table. Select the braking resistor's power according to the braking frequency of the
field conditions and the cooling conditions of the braking resistor, you could consult factory if you have any
problem.
3.16 Noise and High Harmonic Countermeasures
The following describes noise and harmonic measures:

This servo unit has a built-in microprocessor. Therefore, it may be subject to noise from its peripheral equipment.
To prevent mutual noise interference between the servo unit and its peripheral devices, the following measures to
prevent noise interference can be taken as required.
 Set the input command device and noise filter as close to the servo unit as possible.
 Be sure to connect a surge suppressor to the coils of relays, solenoids, and electromagnetic contactors.
 Do not use the same bushing for the main circuit cable and the input/output signal cable/encoder cable, and do
not bind them together. When wired, the main circuit cable and the input/output signal cable/encoder cable should
be separated by more than 30cm.
 Do not use the same power supply as the electric welder or EDM machine. Even if it is not the same power supply,
connect a noise filter to the input side of the main circuit power cable and the control power cable when there is
a high-frequency generator nearby.

4 Trial operation
4 Trial operation
4.1 Inspections and Notes before Trail Operation
In order to ensure the safe and correct trail operation, please check the programs as below before that:
4.1.1 Conditions of the Servo Motor:

You need to check and confirm all programs as below, if there is any problem, please handle it properly before that
trail operation
 Are the Settings, wires and connections correct?
 Is there any looseness in each fastening part?
 When you use servo motors with oil seals, is the oil seal damaged? Is it smeared with organic oil?
 Is the brake released beforehand when it is a servo motor with a holding brake?
4.1.2 Conditions of the Servo Drive

You need to check and confirm all programs as below, if there is any problem, please handle it properly before that
trail operation.
 Are the Settings, wires and connections correct?
 Is the supply voltage of the servo unit normal?
 Is the driver status display interface free of warnings, alarms, etc.?
4.1.3 Installation
 Install the servo motor and servo unit according to the installation conditions.
 The servo motor may fall when it rotates, so be sure to fix it on the machine.
 Be sure to leave the servo motor at no load.
4.2 JOG trail operation
The trial run refers to the JOG operation of the servo motor unit. The purpose of the single trial operation of the
servo motor is to confirm whether the servo unit and the servo motor are correctly connected and whether the servo motor
is operating normally. Confirm the following points before running:
1.The motor is in the enabled state and the jog operation is invalid during the operation.
2.We suggest that the load inertia is not greater than 30 times of the motor inertia, or it could possibly cause strong
mechanical vibration.
3.The Pn500, Pn310, Pn311 parameters set JOG speed, acceleration and deceleration time.

5 Operation
5 Operation
5.1 Basic Functions
5.1.1 Quick Guide

Basic parameters quick guide
Servo-enabled, Over-travel Motor rotation

Stop modes
Setting parameters Pn601~Pn609 direction Setting parameters
For wiring details, see "Sequence Setting parameter Pn004/Pn005/Pn007
input circuit" Pn002
Electromagnetic brake Regeneration resistance

Setting parameters Pn008/ Overload Torque limit
Setting parameters Pn012/Pn013
Setting parameters Pn050~Pn052
Pn009/Pn010 For connection details, see Setting parameters
Set parameters Pn045~Pn047
For wiring details, see "Regeneration Resistor Pn015/Pn016
(undervoltage)
"Sequence output circuit" Connection"
5.1.2 Servo Enable and Over-Travel Setting

Enable
Set the servo ON (/S-ON) signal that controls servo motor electrification / non- electrification. Pin numbers can be
configured by parameters Pn601 ~ Pn609, and are always configured effectively by parameters Pn610~Pn612. Refer to
“Input Signal Configuration”. The servo internal enable could also be turned on by setting parameter pn001 (internal
enable switch) to 1.
Over-travel
The over-travel prevention function of the servo unit refers to the safety function of forcibly stopping the servo motor
by inputting a signal of the limit switch when the mechanical movement part exceeds the safe movement range. For rotary
applications such as circular tables and conveyors, the over-travel function may not be required. In this case, the input
signal wiring for over-travel is also not required.
！
1. In the one-way over - travel state, commands in the opposite direction of over -
travel can be received.
2. In position control, when the servo motor stops due to over-travel, the position
Cautions deviation remains unchanged. To clear the position deviation, a clear signal (CLR)
must be input.
1. Signal Setting
Pin numbers can be configured by parameters Pn601~Pn609, and are always configured effectively by parameters
Pn610~Pn612. Refer to “Input Signal Configuration”.
2. Stop Mode
When an over-travel occurs, the servo motor can be stopped by any of the following three methods.
 Dynamic brake (DB) stop: By short the electrical circuit, the servo motor can be quickly stopped.
 Deceleration stop: Decelerate to stop with the emergency stop torque (Pn053).
 Free stop: Naturally stopped due to friction when the motor rotates.
The servo motor status after stopping is divided into the following two types.

5 Operation
 Free running state: A state that naturally stops due to friction when the motor rotates.
 Zero-position fixed state: The state of maintaining zero position in the position loop.
When the over-travel occurs, select the stopping method of the servo motor through Pn007. Refer to description of
parameter Pn007.
！
Cautions
It cannot decelerate to stop under torque control. Pn007 is set to DB or
free stop. After the servo motor stops, it enters into free running state.
3. Warning Checkout
The over-travel warning function is a function that detects the over-travel warning (AL.9A0) after entering into over-
travel state when the servo is ON. With this function, the servo unit can transmit the information of detecting over-travel
to the upper device even if the over-travel signal is input instantaneously. When using this function, please set Pn006=1
" Detect over-travel warning".
The timing of over-travel warning checkout
OFF ON
Invalid
Overtravel Invalid Valid Invalid
Valid
signal
Overtravel Normal Warning status lasts Normal

warning 1s
AL9A0 Enable OFF does not check out warning
Automatically clear warnings
A. The warning is detected when an over-travel occurs in the same direction with command.
B. When an over-travel in the opposite direction to the command is issued, no warning is detected. For example,
under the forward command, no warning will be issued even if the N-OT signal (reverse drive prohibited) is turned ON
while moving.
C. When there is no instruction, an over-travel warning in the forward or reverse direction will be detected.
D. When the servo is turned off, no warning will be detected even if it enters the over-travel state.
E. In the over-travel state, no warning is detected when the servo is switched from the servo OFF state to the servo
ON state.
F. The warning I/O will remain output for 1 second after the over-travel status is released and will be automatically
cleared afterwards.
5.1.3 Motor Rotation Direction

The actual rotation direction of the servo motor can be switched by Pn002 without changing the polarity of the speed
command/position command. At this time, although the rotation direction of the motor is changed, the polarity of the output
signal from the servo unit, such as the encoder frequency-divided pulse output, does not change.
Pn002=0 in the factory setting (forward rotation direction) indicates that the counterclockwise rotation (CCW) is
positive when looking at the servo motor cover.

5 Operation
Parameter Communication
Function code Range Default Unit Enabled method
name address
Motor
rotation
0~1 0 - 0x0002 Restart effect
direction
Pn002 selection
Faces to the motor end cover:
0- Counter clockwise direction is positive
1- Clockwise direction is positive
5.1.4 Stop Mode

1. Stop mode when Servo OFF or in type 1 alarms
It can be selected by Pn004 when servo OFF or in type 1 alarm.
• Dynamic brake (DB) stops and maintains DB status: By shorting the electrical circuit, the servo motor can be
stopped in an emergency, and the DB status is maintained after stop.
• Dynamic brake (DB) stops and DB status is released: By shorting the electrical circuit, the servo motor can be
stopped in an emergency and the DB status is released after stop.
• Free running stop: Free stop due to the friction while motor rotates.
！ When the servo motor stops or rotates at a very low speed, when the dynamic
brake is selected to stop, it will be the same as the free stop, and no braking force
Cautions will be generated.
2. Stop mode when in type 2 alarms

Type 2 alarms can select zero speed stop in addition to the servo motor OFF method and type 1 alarm stop method.
Refer to the description of parameter Pn053 for the torque limit at zero speed stop.
！ The setting of zero speed stop mode is valid only for position control and speed
Cautions control.
5.1.5 Electromagnetic Brake

The brake is a part that holds the position when the servo unit power is off so that the moving part of the machine
does not move due to its own weight or external force. It is built into the servo motor with a brake. Please use it as shown
below.

5 Operation
The brake has a delay time for operation. Please ensure the brake operation time while ON and OFF.
Servo enable OFF ON OFF

signal（/S-ON）
Motor power OFF ON 3 OFF
Brake linkage signal OFF ON OFF

（/BK）
Brake holding Brake open Brake holding brake

brake 1
Electromagnetic
brake status
OFF OFF
Position, speed ON
instruction 1
1. Different types of brakes may have slightly different time for holding brakes and loosening brakes.
2. Please ensure that the input command is after the brake opening operation time to ensure the accuracy of
the command
3. When the motor is locked, the motor lock time (Pn008) can be set to ensure that the motor does not operate
during braking, to prevent the danger of motor action when the servo is off.
Motor running / BK signal OFF timing sequence
When an alarm occurs during servo motor rotation, the servo motor stops and the brake signal (/BK) turns OFF. At
this time, the brake signal (/BK) output time can be adjusted by setting the brake command output speed value (Pn010)
and the servo OFF-brake command waiting time (Pn009).

5 Operation
Servo enable ON OFF

signal（/S-ON）
Brake linkage signal
（/BK） ON 1 OFF
Motor power Motor is not

Motor power powered
Brake delay
release speed
Pn010
Feedback speed
Brake delay
Pn009
1.When the motor enters the non-energized state, when the motor speed is lower than the set value of Pn010, the
/BK signal output time is subject to 1
2.When the motor enters the non-energized state, the set time of Pn009 is passed first, and the output time of /BK
signal is subject to 2
Motor stopping locked / BK signal OFF timing sequence
When the servo motor is stopped, the brake (/BK) signal and the servo ON (/S-ON) signal are turned off at the same
time. By setting Pn008, it is possible to change the time from when the servo ON (/S-ON) signal is OFF to when the motor
actually enters the non-energized state.
Servo enable ON OFF

signal（/S-ON）
Brake chain signal

Brake open Brake
（/BK）
Motor
energized Motor The motor is
energized not powered
Pn008
！ The alarm occurs when the servo is locked, which has nothing to do with the
setting, and the motor immediately enters the state of non-energized. At this time,
Cautions the machine may move before holding brake due to the delay of brake action
5.1.6 Regenerative Resistor

Refer to “Regeneration Resistor Connection” for the wiring method. When connecting an external regenerative
resistor, set parameters Pn012 and Pn013 according to the external resistance.
The regenerative resistor capacity should be set to a value that matches the allowable capacity of the connected
external regenerative resistor. The setting differs depending on the cooling condition of the external regenerative resistor.
• Self-cooling method (natural convection cooling): Set to 20% or less of the regenerative resistor capacity (W).

5 Operation
• Forced air cooling: Set to 50% or less of the regenerative resistor capacity (W).
Example: When the capacity of the self-cooling external regenerative resistor is 100W, the setting value is 100W ×
20% = 20W. Therefore, set Pn012 = 2 (setting unit: 10W).
5.1.7 Overload
This servo unit can change the detection time of the overload warning (AL.910) and overload (continuous maximum)
alarm (Er. 720). However, it is not possible to change the detection value of the overload characteristic and overload
(instantaneous maximum) alarm (Er. 710).
1. Change the detection time of overload warning (AL.910)
Overload
50%
detection
overload
time
warning
detected
Overload alarm
detection curve
20%
overload
warning
detected
Torque
command%
100% 200%
The factory overload warning detection time is 20% of the overload alarm detection time. The overload warning
detection time can be changed by changing the overload warning value (Pn015). In addition, we can use it as an overload
protection function corresponding to the system,whcih can improve the security of the system.
For example, as shown below, after changing the overload warning value (Pn015) from 20% to 50%, the overload warning
detection time is half (50%) of the overload alarm detection time.
2. Change the detection time of the overload warning (Er. 720)
The overload (continuous maximum) alarm (Er. 720) can be detected in advance to prevent motor overload.
Detecting the overload alarm by using the “Base current after derated”, the overload alarm detection time can be
shortened. The detection value of the overload (instantaneous maximum) alarm (Er. 710) cannot be changed.
Motor base current after derated = motor current threshold when starting calculating overload alarm (default 1.15
times motor) * derated value of motor overload detection base current (Pn016).
For example, as shown in the following figure, after setting Pn016 to 50%, the overload alarm can be detected
earlier because the motor overload is calculated from 50% of the base current. When the value of Pn016 is changed, the
overload warning detection time is changed, because the overload alarm detection time will be changed.

5 Operation
Overload
detection 100% overload alarm
time detection curve
50%
overload
alarm
detection
curve
Torque
command%
100% 200%
5.1.8 Multi-turn Absolute Encoder

When using a multi-turn absolute encoder, an absolute value detection system can be constructed by a host device.
With the absolute value detection system, it is not necessary to perform an origin return operation every time the power
is turned on. In order to save the position data of the absolute encoder, a battery unit needs to be installed. Install the
battery on the battery unit of the encoder cable with battery unit. When the encoder cable with battery unit is not used,
please install the battery in the upper device. The battery voltage is 3.2V ~ 4.5V. If the battery voltage is lower than 3.2V,
the battery under voltage alarm (Er.830) will appear. Generally, 3.6v/3.7v lithium battery is selected.
Related setting parameters:
Function Communication Effective

Name Range Default Unit
code address mode
Method to use absolute Restart
0~1 0 － 0x0040
encoder effect
0 - Use an absolute encoder as an absolute encoder: If the motor is an absolute multi-turn encoder,
set this parameter to 0, so to use the multi-turn absolute function. This function must be used with
Pn040
battery encoder line, otherwise the servo will alarm (ER. 810)
1- Use an absolute encoder as an incremental encoder: When used as an incremental encoder, the
power-off position won’t be recorded and warning or alarm corresponding to multiple revolutions won’t
happen either when the battery is under-voltage or the motor encoder cable is unplugged
Absolute encoder battery
Restart
under voltage 0~1 0 － 0x0041
effect
alarm/warning selection
0- Set the low battery voltage as a fault: The driver powers up/resets for 4~9 seconds to monitor the
Pn041 battery status. Under-voltage will be reported as an under voltage alarm (Er. 830). Over time will not
be detected. The drive fails to operate normally under fault condition
1- Set the low battery voltage as a warning: Under-voltage (below 3.2V) will be reported as an under
voltage warning (Al.930). It will always monitor the battery voltage and can be self-recovery
meanwhile enable running is out of restriction.
Absolute encoder Restart
0~2 0 － 0x0792
operation effect
0 - No action
1- Write motor parameters to encoder EEPROM. After modifying the motor parameters, this
operation is required to write the data to the encoder
Pn792 2- Clear multi-turn encoder turns: if you use it initially or replace or insert/remove the battery during
power-down of the drive, after power on again, an encoder backup alarm (Er. 810) will be reported.
This parameter is set to 2 when disable the servo (if it is set to 2, the parameter will automatically
return to 0, which is normal.) and it can only be cleared after re-powered. The alarm clearing will
clear the encoder multi turn value and retain the single cycle value as well.
3- Clear encoder alarm only (Er.860 / Er.810): after the encoder alarms, setting this parameter to 3

5 Operation
can only clear the encoder alarm, but not clear the encoder multi turn value
Related monitoring data:
Monitoring Communication
Monitoring name Range Unit
code address
Absolute encoder single-turn 0x80000000~0x7FF
Encoder unit 0xE010
Un010 value FFFFF
Display single-turn absolute position value of the absolute encoder
Absolute encoder multi-turn 0x80000000~0x7FF
- 0xE011
value FFFFF
Un011
Display the number of turns of the multi-turn encoder when the multi turn encoder is selected. After
the multi turn encoder is reset, the value is 0.
！
1. When replacing the battery, please make sure that the driver is
powered on and the encoder cable is connected normally. Otherwise,
the encoder will display the backup warning when reconnecting the
Cautions encoder. The absolute position will be lost at this time and it needs to
clear the number of turns of the multi-turn encoder.
5.1.9 Torque Limit

1. Torque limit method
To protect the machine etc., the output torque can be limited and set by parameter Pn050. The torque limit can be
in the following five ways:
Related
Pn050 Torque limit method description
parameters
0 Analog torque (torque mode is invalid) Pn405
1 Maximum torque limit 1 Pn051

Pn051 、
2 FWD max torque limit 1 (Pn051), REV max torque limit 2
Pn052
Max torque limit 1 when the on-off torque limit switching (/TLC) signal is OFF; Max Pn051 、
3
torque limit 2 when ON. Pn052
4 Limit by internal torque command ( under torque mode) Pn410
！
1. The input voltage of the analog command for torque limit has no polarity . Take the absolute
value of the voltage and use the torque limit value corresponding to this absolute value for both
the forward direction and reverse direction.
2. The set value exceeds the maximum torque of the servo motor used, and the actual torque is
Cautions also limited to the maximum torque of the servo motor.
3. When the set value is too small, the torque may be insufficient when the servo motor
accelerates or decelerates. Please set according to the actual situation.
2. Torque limit output signal

The torque limit (/CLT) output is ON means the motor output torque is in the limit state. This signal can be used to
confirm the status of the current torque limit of the motor. Refer to “Sequence Output Circuit” for the wiring method. Refer
to “Switching Output Signal” for parameter setting.
3. Torque limit under voltage

5 Operation
When the instantaneous power failure and the main circuit power supply voltage are insufficient for a short period
of time, the main circuit DC voltage inside the servo unit is below the specified value, an under-voltage warning is detected,
and the function for limiting the output torque can be selected. Related parameters are as below:
Function Communication Effective

Parameters name Range Default Unit
code address mode
Under-voltage 0x00~0x0 Restart
0 － 0x0045
function selection 2 effect
0- No detection of main circuit descent warning
Pn045
1- Detection of main circuit descent warning
2- Detect main circuit descent warning and perform torque limit. The relevant torque limit is
matched with Pn046/Pn047. For details, refer to "Main circuit under-voltage torque limit".
Torque limit when
main circuit voltage 0~100 50 % 0x0046 Immediately
Pn046 drops
According to the under voltage warning, it will impose the torque limit inside the servo unit.
Torque limit release
time when main circuit 0~1000 100 ms 0x0047 Immediately
Pn047 voltage drops
After the under-voltage warning signal releases, the torque limit value is controlled inside the
servo unit according to the set time. For details, refer to "Under-voltage limit of the main circuit".
By combining this function with the setting function of the instantaneous stop holding time, when the power supply
voltage is insufficient, it could avoid the shutdown due to the alarm and continue the operation without performing the
power restoration operation.
Under-voltage warning, apply torque limit inside the servo unit. After receiving the under voltage warning release
signal, the torque limit value is controlled inside the servo unit according to the set release time. The logical timing is as
follows:
Main circuit power disconnection time

Main loop input
power
280V *1 The bus voltage drop speed can be alleviated by

Bus voltage limiting the output torque
200V*2
Undervoltage
warning Starting torque
limit Pn047
Torque limit
Pn046
0% Torque
1: 560V when 400VAC

2: 400V when 400VAC

5 Operation
5.2 Position Mode
For details on the wiring related to the position mode; see "Connection Control Example under Position Control".
The position control is selected by the control mode selection (Pn000 = 0, factory default).
5.2.1 Quick Guide

Location Control
Quick Guide
Connect each part properly No

Drive panel display is normal
Is the actual position
consistent with the
given?
The host system
sends a fixed pulse
Yes Confirm the gear ratio
(Pn204, Pn206), frequency
output (Pn070) setting
Monitoring Un108, No
receiving pulses follow
given changes?
No
Confirm the wiring (PULS/ Run response to
SIGN) meet requirements?
Yes
Pulse input
Filter Selection (Pn200)
For details of gain
Yes adjustment, see
"Adjustment"
Enable operation
The end
No
Is the direction of
operation consistent with
the given?
Confirm Pn202 setting
Yes direction
5.2.2 Basic Settings

The following describes the basic settings for position control:
1. Command pulse filter selection
The appropriate command pulse filter can be selected according to the frequency of the highest pulse in operation,
which can be set by parameter Pn200. For details, refer to the relevant description of the function code. If the selection
is not appropriate, the received pulse of the servo unit may be lost or increased.
2. Pulse input form
Select the corresponding pulse input form according to the pulse output form of the host system.

5 Operation
Function Setting Command

Forward instruction Reverse instruction
code value form
Pulse +
0 direction
positive logic
CW+CCW
1
positive logic
Quadrature
Pn201 4 encoding 4
times
Pulse +
5 direction
negative logic
CW+CCW
6
negative logic
3.Electronic gear ratio
When the reduction ratio of the motor shaft and the load side is n/m (When the motor rotates m turns, the load shaft
rotates n turns), the set value of the electronic gear ratio can be obtained by the following formula (Take 23 bit absolute
encoder as an example):
𝐵 𝑃𝑛204 Encoder resolution 𝑚

Electronic gear ratio = = ×
𝐴 𝑃𝑛206 Load shaft movement amount in 1 rotation (command unit) 𝑛
Composition of mechanical system

Steps Content
Ball screw Rotary table Belt + Pulley

5 Operation
Pulley dia：100mm
Rotation angle per turn：
Machine Ball screw lead: 6mm （Pulley circumference：
1 360°
specification Reduction ratio：1/1 314mm）
Reduction ratio：1/100
Reduction ratio：1/50
8388608 （23-bit） 8388608 （23-bit） 8388608 （23-bit）

Encoder
2 16777216（24-bit） 16777216（24-bit） 16777216（24-bit）
resolution
131072（17-bit） 131072（17-bit） 131072（17-bit）
3 Command unit 0.001mm （1mm） 0.01° 0.005mm （5mm）
Load shaft
movement
amount in 1
4 6mm/0.001mm = 6000 360° /0.01° = 36000 314mm/0.005mm = 62800
rotation
(command
unit)
Electronic 𝐵 8388608 1 𝐵 8388608 100 𝐵 8388608 50

5 = × = × = ×
gear ratio 𝐴 6000 1 𝐴 36000 1 𝐴 62800 1
Pn204：8388608 Pn204：838860800 Pn204:419430400

6 Parameter
Pn206：6000 Pn206：36000 Pn206：62800
1. When the numerator of electronic gear ratio (pn204) is set to 0, the value set by
！
the denominator of electronic gear ratio (pn206) is the number of command pulses
corresponding to one cycle of motor operation. For example, if pn204 (numerator)
is set to 0 and pn206 (denominator) is set to 10000, it means that the upper
Cautions computer (PLC, motion controller, etc.) sends 10000 pulses, and the servo motor
rotates one cycle..
2. If 0.001 ≤ electronic gear ratio (B / a) ≤ 83887 exceeds the setting range, an
"abnormal parameter setting (er.040) alarm" will occur (for 23 bit encoder).
5.2.3 Deviation Clearance

The deviation clear signal (/CLR) is the input signal to clear the servo unit deviation counter.

5 Operation
1. Clear signal wiring

Deviation clear signal wiring can be divided into linear driver output and open collector output. Please refer to
“Position Command Input Circuit” for wiring details.
2. Setting the deviation clear mode
The state of the clear signal is set by Pn272.
Function Communicatio Effective

Parameter name Range Defaults Unit
code n address mode
Position deviation clear restart
0x00~0x03 0 － 0x0272
mode effective
Set the clear mode of the switching value position deviation clear signal (/CLR):
Pn272 0-clear when level ON
1-rising edge OFF->ON clear
2-clear when level OFF
3-falling edge clears when ON->OFF
When Pn272 = 0 or 2, in order to perform clear signal processing, the amplitude of the clear signal must be 250μs
or more.
When Pn272 = 1 or 3, in order to perform clear signal processing, the amplitude of the clear signal must be 20μs or
more.
！
Cautions
When set to keep clear, the servo lock function is invalid.
Therefore, the servo motor will rotate at a slight speed due to the
drift pulse in the speed loop.
3. Deviation clearing method selection

Depending on the status of the servo unit, you can choose when to clear the position deviation. Set the deviation
clearing method by Pn273:
Function Mailing Effective

Parameter name Range Defaults Unit
code address mode
Position deviation clear Restart
0x00~0x02 0 － 0x0273
mode selection effective
Set themode of the deviation clearing:
0- servo OFF, alarm, / CLR signal position deviation can be cleared
Pn273 1- / CLR signal position deviation can be cleared
2- alarm, / CLR signal position deviation can be cleared
3- cleared in case of servo OFF, alarm and limit
4- position deviation clearing
5- cleared in case of servo OFF, alarm and limit
Refer to the “Deviation Clearance” for details on the pulse amplitude of the clear signal.
In position control, the positional deviation remains unchanged when the servo motor is stopped due to the travel
limit.
！
Under position mode, the servo motor stops running due to the travel limit. If
the host computer continues to send pulses, the position deviation will
increase continuously and the position deviation will not be cleared
automatically. When excluding the travel limit, the motor may gallop. Please
Cautions pay attention to the safety of the motor action, or use the position deviation
command to clear the position deviation.

5 Operation
5.2.4 Command Pulse Inhibition

The command pulse inhibition (/INHIBIT) function is a function that prohibits the command pulse input from being
counted during position control. When this function is enabled, the servo unit enters a state where it cannot receive the
command pulse input.
1. Configuration of Command Pulse Inhibition
The signal is not configured in the factory default switch configuration. Therefore, the pin number configuration
(0x0D) needs to be performed by parameters Pn601~Pn609.
2. Command pulse inhibited wiring
The command pulse inhibited signal is a universally configurable switching value input. Refer to"Sequence Input
Circuit" for wiring details.
5.2.5 Positioning Approach

When positioning is near to (/NEAR) position control, the host device may receive the positioning approach signal
before confirming the positioning completion signal, so as to prepare for the sequence of actions after the positioning is
completed. In this way, the time required to complete the positioning can be shortened. This signal is usually used in pair
with the positioning completion signal. Refer to the “Positioning completion” instruction for the positioning completion
signal.
1. Confiuration of positioning approach
The signal is not configured in the factory default switching value output configuration. Therefore, the pin number
configuration (0x08) needs to be performed by parameters Pn613~Pn615.
When the difference between the command pulse number of the host device and the movement amount of the servo
motor (position deviation) is lower than the setting value of Pn260 (position approach signal width), the signal is output
when the positioning approach output condition is satisfied.
2. Position approach wiring
The positioning approach signal is a general configurable switching value output. Refer to “Sequence Output Circuit”
for wiring details
5.2.6 Positioning Completion

In position control, it indicates the servo motor positioning completed (/COIN) signal.
1. Positioning completion configuration
In the factory default digital output configuration, the signal is configured as CN1's 27th and 28th pin numbers
(Pn614=0x01) by default. Please confirm before use.
Function Parameter Communication

Range Defaults Unit When enabled
code name address
Positioning
Command 0x0262 Immediately
completion 0~1073741824 7
unit 0x0263
range
Pn262 In the position control, the servo motor positioning completion signal will be output when the
difference between the command pulse number from the host device and the servo motor movement
amount (position deviation) is lower than the set value; that means the host device confirming
positioning has been completed.
If the set value is too large, the constant positioning completion signal may be output when the deviation is small
during low-speed operation. When outputting a constant positioning signal, please lower the setting until the signal is no
longer output.
Parameter Communication
Function code Range Defaults Unit When enabled
name address

5 Operation
Positioning
Restart
completion
0x00~0x02 0 － 0x0274 effective
signal output
time
Set the output timing of the positioning completion signal /COIN:
Pn274 0- Output when the absolute value of position deviation is less than the positioning completion
range (Pn262).
1- Output when the absolute value of the position deviation is smaller than the positioning
completion range (Pn262) and the command after the position command filtering is 0.
2- Output When the absolute value of the position deviation is smaller than the positioning
completion range (Pn262) and the positioning command input is 0.
2. Positioning completion wiring

The positioning completion signal is a universally configurable switching value output. For wiring details, refer to
“Sequence Output Circuit”.
Example of optocoupler Example of relay

circuit Controller circuit Controller
5V~30V 5V~30V
Servo Servo
driver driver
SEN SEN
OCZ OCZ
GND GND
Twisted Twisted
pair pair
5.2.7 Command Pulse Input Magnification Switching
The ON/OFF of the command pulse input magnification switch input signal (/PSEL) could switch the input
magnification of the position command pulse to 1 and n times (n = 1 to 100). The switching of the magnification can be
confirmed by output signal(/PSELA) of command pulse input magnification switching.
Please switch the command pulse magnification while the position command pulse is 0. If the position command
pulse is not 0, the servo motor may cause a position deviation or cause a position loss.
1. Configuration of command pulse input magnification switching
The signal is not configured in the factory default switching value input configuration. Therefore, the pin number

Range defaults unit When enabled
code name address
Command
Immediately
Pn203 pulse input 1~100 1 x1 times 0x0203
magnification

5 Operation
Set the command pulse input magnification value to be used in conjunction with ON/OFF of the command pulse
magnification switching signal for switching the position command pulse input magnification to 1 or the multiple of
this parameter setting.
Note: If the input pulse frequency is too low or the value is set too large, the speed may not be steady.
Valid
Command pulse input
multiplier switching input Invalid
signal /PSEL Valid
Command pulse input Invalid

multiplier switching
output signal /PSELA
Below 4ms Below 4ms
Internal action x1 Pn203 x1
2. Command pulse input magnification switching wiring

The command pulse input magnification signal is a universally configurable switching value input. Refer to
“Sequence Input Circuit” for wiring details.
5.2.8 Smooth Settings

The command pulse input is filtered to make the rotation of the servo motor smoother. This function is more effective
in the following situations:
 The host device that issued the command does not perform acceleration / deceleration
 When the instruction pulse frequency is extremely low
 When the position command smoothing function is set, the system response may be affected. Please use
it reasonably.
The filter-related parameter settings are as follows:
Function Parameter Communication When

Range default unit
code name address enabled
Position command low-pass
0~655 0 ms 0x0211 After stop
filter time constant
Pn211 This parameter is used to set the time constant of the first-order low-pass filter corresponding to the position
command and it can reduce the mechanical shock in the case of abrupt changes in the input pulse command
frequency by setting this parameter. If set too large, the servo response will slow down.
Moving average filtering time of

0~1000 0 ms 0x0212 After stop
position command
Pn212
This parameter is used to set the time constant of the moving average filter of the corresponding position
instruction. It can reduce the mechanical shock in the case of abrupt changes in the input pulse command
frequency by setting this parameter. If set too large, the servo response will slow down.

5 Operation
The difference between the position command low-pass filter time constant and the position command's moving
average filter time is shown below:
Low pass filter Moving average filter

Position Before filtering Position Before filtering
instruction After filtering instruction After filtering
100% 100%
63.2%
36.8%
Time Time
Pn211 Pn211 Pn212 Pn212
Moving average filter

Position Before filtering
instruction Pn212 After filtering
Pn212 Time
5.2.9 Frequency-division Output

The encoder frequency-division pulse output is a signal that is output to the outside in the form of a two-phase pulse
(phase A, phase B) with a phase difference of 90° after processing the signal from the encoder inside the servo unit.
Used as position feedback in the host device.
Frequency-division pulse output parameter configuration
Set the encoder frequency division pulse output as follows:

Range defaults unit
restart
Encoder frequency division pulses 16~4194304 2048 - 0x0070
effective
Pn070
The number of pulses per cycle from the encoder is divided by frequency in accordance with the parameter. Please
set it according to the system specifications of the machine and host device.
restart
Divided frequency output reversed 0~1 0 - 0x0072
effective
Pn072 A/B pulse phase sequence logic when setting forward/reverse:

0- Don’t revert the pulse output: When forward, A leads B
1- Revert the pulse output: When forward, B leads A
1. Frequency division pulse

The number of pulses per revolution from the encoder is processed inside the servo unit and then divided down and
output to the set value of Pn070.
The encoder's number of divided pulse outputs is set according to the system specifications of the machine and the
host device.
The setting of frequency division pulse number of encoder will be limited by the resolution of encoder. The maximum

5 Operation
output frequency of frequency division pulse of encoder shall not exceed 4MHz (after 4 times frequency), as shown in the
table below:
Pulse Number of Encoder Frequency Setting Encoder Resolution

Upper Limit of motor Speed ( r/min)
Devision (pulse/r) increment 17 bits 20 bits 23 bits
16~16384 1 o o o 6000
16386~32768 2 o o o 3000
32772~65536 4 o o o 1500
65544~131072 8 o o o 750
131088~262144 16 - o o 375
262176~524288 32 - o o 187
524352~1048576 64 - o o 93
1048704~2097152 128 - - o 46
2097408~4194304 256 - - o 23
Output example: When Pn070=16 (16 pulses per revolution), an output example of the encoder frequency-division
pulse output A-phase (PAO) signal and the encoder frequency-division pulse output B-phase (PBO) signal is shown below.
PAO
PBO
1 Resolution Pn070=16
2. Frequency division output reversed
When forward, B phase When reversing, phase

leads 90° A leads 90°
90° 90°
A A
B B
C C
Time Time
Parameter Pn072 can be set to revert the logic of the AB phase signal of the divided output pulse.
The amplitude of the Z-phase pulse varies with the number of encoder frequency-division pulses (Pn070) and is
consistent with the amplitude of the A-phase. The smaller the frequency division pulse number (Pn070) is, the wider the
Z-phase pulse amplitude is.
Frequency division pulse output wiring
Refer to the “Linear Drive Output Circuit” for details on the wiring of the frequency division pulse output.

5 Operation
Servo drive Twisted pair

Using a linear receiver
PAO SN75ALS175
220Ω~470Ω
PAO-
PBO
PBO-
PCO
PCO-
GND GND
Please connect the shield
wire according to the
FG requirements of the
Sheild wire equipment
The output voltage of frequency division pulse of encoder is differential ± 5V. Because
！ the pulse width of C (Z) phase pulse is very small, it is difficult to measure the change
with a multimeter. It is necessary to cooperate with the high-speed input point of the
Cautions h o s t computer to capture the pulse, or set the encoder frequency division pulse
number ( Pn070) to the minimum (16), and then measure with the multimeter voltage
level.
5.3 Speed Mode
For details on speed mode wiring, refer to "Speed Control Wiring Diagram". It is selected by control mode selection
(Pn000).
The speed control mode is divided into internal speed mode (Pn000=3) and analog speed mode (Pn000=1)
according to the command source.

5 Operation
5.3.1 Quick Guide

Speed Control
Quick Guide
Internal speed control The upper system gives a binary signal (/
Connect each part properly (Pn000=3) SPD-A, /SPD-B, /SPD-D)
Drive panel display is normal Select internal speed (Pn304, Pn305,
Pn306)
Analog speed control
(Pn000=1)
The upper system gives a
fixed voltage V-REF
No
Monitoring Un103, receiving No Is the actual speed
consistent with the
speed follows given
given?
changes?
Confirm the wiring Confirm analog speed

Yes
(V-REF) Yes command gain sett ing Pn300,
See "Analog Input Circuit" for Pn302, Pn303
details
Enable operation No
Run response to meet
requirements?
No Gain adjustment, see

Is the direction of operation Yes "Adjustment" for
consistent with the given? details.

Yes direct ion.
The quick
wizard ends

Control mode selection (Pn000=3), internal speed mode, internal speed command direction selection based on
switching value input (/SPD-D), internal speed command selection A (/SPD-A), internal speed command selection B
(/SPD- B) configuration to select the speed instruction.
The control mode selection (Pn000 = 1) is the analog speed mode. The speed command is given according to the
voltage of V-REF (CN1-5, CN1-6) and the set value of analog speed command gain Pn300.

5 Operation
1. Analog speed

Range Default Unit When enabled
code name Address
Analog speed 150~30 0.01V/rated
600 0x0300 Immediately
command gain 00 speed
This parameter is used to set the analog voltage value (V-REF) required by speed command so as
Pn300 to make the servo motor speed to rated value. The default is the rated speed corresponded with
given voltage 6V.
Caution: Do not apply the voltage that exceeds -10~10V, otherwise, it may cause damage to the
driver.
Analog speed
command 0~1 0 - 0x0301 Immediately
reverse
Pn301
Set the voltage polarity of the analog speed command:
0 -Positive polarity: positive voltage corresponds to positive speed command.
1- Negative polarity: positive voltage corresponds to negative speed command.
Analog speed
instruction 0~655.35 0.40 ms 0x0302 Immediately
filter time
Pn302 The function could be set to smooth the speed command when one delay filter is applied to the
analog speed command (V-REF) input and usually it does not need to be changed. If the set value is
too large, the responsiveness may decrease. Please set this parameter while confirming the
response.
Analog speed
command
0~3 0 V 0x0303 Immediately
dead zone
range
Pn303
In the analog speed control, even if the input command is 0V, the servo motor may rotate at a slight
speed. This is because there is a slight deviation in the commands inside the servo unit. This error
can be eliminated by setting an appropriate analog speed command dead zone.
Set the analog voltage value of the speed command (V-REF, refer to “Analog Input Circuit” for wiring) that makes
the speed of the servo motor rated via the analog speed command gain Pn300.
Example: The factory default parameter Pn300 = 600 (6V corresponds to the rated speed (assuming 3000rpm). If
the V-REF input voltage is 1V, the speed command corresponds to 500rpm. If 3V is input, the speed command
corresponds to 1500rpm.

5 Operation
Factory setting
Motor speed r/min Maximum input voltage +10V
Rated Speed
Minimum input voltage -10V
-30 -10 -6 -1.5

1.5 6 10 30
Voltage-V
Setting range 1.5~30V

corresponding to rated speed
Input voltage range

0~±10V
Adjustment of instruction offset:
When analog speed control is used, even if the command is 0V, the servo motor may rotate at a slight speed. This
is because there is a slight deviation in the instructions inside the servo unit. This slight deviation is called "offset".
Motor speed Motor speed
After offset
Offset adjustment
V-REF Voltage
V-REF Voltage
There are two methods of automatic adjustment and manual adjustment of offset adjustment. Automatic adjustment
is automatic adjusting command offset (Fn100) and manual adjustment is manually adjusting command offset (Fn101).
For details, refer to "Auxiliary Functions".
！
Cautions
1. When adjusting automatically, be sure to adjust the command offset while the servo is OFF and
upper device (PLC, button, etc.) gives 0V voltage command.
2. When adjusting manually, observe the running status of the motor while adjusting under servo ON.
3. The offset adjustment value will not be initialized if performing the factory restore.

5 Operation
2. Internal speed

code name address
Internal
0~10000 100 rpm 0x0304 Immediately
speed 1
Internal
Pn304 speed 2
Pn305 Internal
Pn306 speed 3
When operating in the internal speed mode, the servo unit provides 3 internal speed commands and
selects A and B through the switching value internal speed command. When the switching value
internal speed command selects A and B at OFF state, the internal speed is default as 0.
The speed is selected through the switching value input signal control:
Switching value input signal

Direction of speed command Speed instruction size
/SPD-D /SPD-A /SPD-B
OFF OFF 0
OFF ON Internal speed 1(Pn304)
OFF Positive
ON ON Internal speed 2(Pn305)
ON OFF Internal speed 3(Pn306)
OFF OFF 0
OFF ON Internal speed 1(Pn304)
ON Negative
ON ON Internal speed 2(Pn305)
ON OFF Internal speed 3(Pn306)
5.3.3 Soft Start

The soft start function is a speed command that converts a step speed command to a smoother constant
acceleration/deceleration. You can set the acceleration time and deceleration time, and use this function when you want
to achieve smooth speed control during speed control.

code name address
Speed command
trapezoidal 0~10000 0 ms 0x0310 Immediately
acceleration time
Pn310
Acceleration time of the set speed is from 0r/min to the max speed (corresponding to the motor
model). When the given speed is more or less than the max speed, the actual acceleration time is
calculated in proportion.
Speed command
trapezoidal 0~10000 0 ms 0x0311 Immediately
deceleration time
Pn311
Deceleration time of the set speed is from max speed (corresponding to the motor model) to 0r/min.
When the given speed is more or less than the max speed, the actual deceleration time is calculated
in proportion.

5 Operation
Maximum speed
Target speed
Actual Actual
deceleration time deceleration time
Pn311 Pn311
！ Note that the acceleration and de cele ration time refers to the time from 0 to
the ma ximum spe ed or deceleration from the maximum sp eed to 0, and the
Cautions maximu m speed is taken as the judgmen t stand ard instea d o f th e ra ted
speed or the g ive n spee d
5.3.4 Zero position Fixed Functions

The zero-position fixed function means that when the zero-position fixed signal (/ZCLAMP) is ON, the servo lock is
performed when the input voltage of the speed command (V-REF) is lower than the speed set by the fixed zero-position
value (Pn313). Clamp after shutdown, means that the position loop is formed inside the servo unit, and the speed
command will be ignored. Therefore, when used for speed control, the host device does not build a position loop.
The servo motor clamp is fixed within ± 1 pulse of the zero position fixing effective position. Even if rotation occurs
due to external force, it will return to the zero position.
1. Zero-position fixed configuration
(0x0C) needs to be performed by parameters Pn601~Pn609.

Range Defaults Unit When enabled
code name address
Zero speed
0~3 3 - 0x0312 Immediately
clamp mode
Speed mode, setting the switching value zero position clamp signal (/ZCLAMP) working mode:
0- Invalid
Pn312
1- Speed command is set to 0, not clamped after stop
2- Speed command is set to 0, clamped after stop
3- Speed command is lower than "zero position clamp speed threshold", and then speed command
is set to 0 at first, clamped after stop.
Zero position
0~1000
Clamp Speed 10 rpm 0x0313 Immediately
0
Pn313 Threshold
Set the zero position control switching threshold when "zero position clamp mode is set to 3.
The relationship between zero position clamp speed thresholds and zero position clamp function is shown in the
figure below:

5 Operation
2. Zero-position clamp wiring

The zero-position clamp signal is a universally configurable switching value input. Refer to “Sequence Input Circuit”
for wiring details.
5.3.5 Rotation Detection Signal

When the motor speed is more than the setting value, a switching value rotation detection signal (/TGON) is output.
1. Configuration of rotation detection signal

Range Default Unit
code Name address enabled
Rotation
1~ Immediatel
determinatio 20 rpm 0x0317
10000 y
Pn317 n threshold
When the motor speed is higher than the set value, the switching value rotation detection signal
(/TGON) is output.
This signal is not configured in the factory default switching value output configuration. Please confirm before use.
The signal is not configured in the factory default switching value output configuration. Therefore, the pin number
The output condition is that the signal is output when the current feedback speed (absolute value) of the motor is
higher than the setting value of Pn317 (rotation determination threshold).
2. Wiring of rotation detection signals
The rotation detection signal is a universally configurable switching value output signal. Refer to “Sequence Output
Circuit” for wiring details.

5V~30V 5V~30V
Servo Servo
driver driver
SEN SEN
OCZ OCZ
GND GND
Twisted Twisted
pair pair

5 Operation
5.3.6 Consistent Speed

The speed consistent signal (/V-CMP) is a signal that is output when the difference between the servo motor speed
and the command speed is equal to or lowers than the set value of the speed consistent range Pn320. Used when
interlocking with the upper device. This signal is the output signal during speed control.
1. Configuration of Speed-consistent Signals

Range Default Unit
Speed
Immediatel
consistent 0~100 10 rpm 0x0320
y
range
Pn320
When the difference between the motor speed and the command speed is lower
than the set value, the switching value speed consistent signal (/V-CMP) is
output.
In the factory default switching value output configuration, the signal is configured as CN1 29 and 30 pin numbers
(Pn614=0x02) by default. Please confirm before use.
Motor speed
Within the two dashed lines / V-CMP Pn320

outputs
Pn320
For example: Pn320=100, when the
speed command is 2000r/min, the
feedback speed is 1900~2100r/min,
then the signal outputs
Speed command
2. Wiring of speed-consistent signals

The speed-consistent signal is a universally configurable switching value output signal. For details on wiring, see
"Sequence Output Circuit".
5.4 Torque Mode
Refer to "Connection Example of Torque Control" for details on the wiring related to the torque mode. It is selected
by control mode selection (Pn000=2). The torque mode is divided into the internal torque command (Pn400=0) and the
analog torque command (Pn400=1, factory default) by the selection of the torque command source.

5 Operation
5.4.1 Quick Guide

Torque Control
Quick Guide
Internal torque command
Connect each part properly (Pn400 = 0) Internal torque
Drive panel display is normal command Pn410
Analog torque
command
(Pn400=1)
The upper system is given a
fixed voltage T-REF
Is the actual torque

No
Monitoring Un102, receiving No consistent with the
torque follows given given?
changes?
Confirm the wiring (T-REF) Confirm analog torque

Yes See "Analog Input Circuit" for
Yes command related settings
details Pn404, Pn405, Pn407, Pn413
Enable operation No
Run response to meet
requirements?
Gain adjustment
No See "Adjustment
Is the direction of operation Yes Instructions" for
consistent with the given? details

Yes direction
The quick
wizard ends

Torque control is the operation method of inputting the torque command to the servo unit and controlling the output
of the servo motor through the torque command.
The torque command selection source Pn400=0 is the internal torque command, the torque command is set directly
by the parameter Pn410. In this way, the internal torque can be given by writing to address 0x0410 via RS-485. PN400 =
1, which is the analog torque instruction, is given according to the voltage connected to T-REF (CN1-9, CN1-10) and the
setting value of analog torque command gain Pn405.

code name address
Torque command
selection
Pn400 Select the command source of torque control:
0-internal setting
1-analog input

5 Operation
Analog torque 0~
0.00 ms 0x0404 Immediately
command filter time 655.35
Pn404 The parameter is used to smooth the torque command when we apply a delay filtering to the analog
torque command (T-REF) input, usually it does not need to be changed. If the set value is too large,
the responsiveness may decrease. So please set it up as we check the response.
0.1V/
Analog torque 10~
30 Rated 0x0405 Immediately
command gain 100
torque
Pn405
This parameter is used to set the analog voltage value (T-REF) required for the rated torque of the
servo motor.
Caution: Do not apply voltage exceeding -10~10V range, or it may cause damage to the driver.
Analog torque
command reversed
Pn406 The analog voltage corresponds to the polarity setting of the torque command:
0- Positive polarity: Positive voltage corresponds to positive torque command.
1- Negative polarity: Positive voltage corresponds to negative torque command.
Analog torque
command dead zone 0~3 0 V 0x0407 Immediately
range
Pn407
In analog torque control, even if the input command is 0V, the servo motor may rotate at a slight
speed. This is because a slight deviation occurs in the command inside the servo unit. This deviation
can be eliminated by setting an appropriate analog torque command dead zone range.
Internal torque
command in torque -500~500 0 % 0x0410 Immediately
control
Pn410
The torque command value setting when selecting the command source of torque control as internal
setting.
Set the analog voltage value of the rated torque command (T-REF, see “Analog Input Circuit” for wiring) through the
analog torque command gain Pn405.
Example: The factory default parameter Pn405=30 (3V corresponds to the rated torque). If the input voltage at the
T-REF terminal is 1.5V, the torque command corresponds to 50%. If 3V is input, the torque command corresponds to
100%.

5 Operation
5.4.3 Adjustment of Instruction Offset

When using torque control, even if the command is 0V, the servo motor may rotate at a slight speed. This is because
there is a slight deviation in the instructions inside the servo unit. This slight deviation is called "offset".
There are two methods of automatic adjustment and manual adjustment of offset adjustment. Automatic adjustment
is automatically adjusting the command offset (Fn100) and manual adjustment is manually adjusting command offset
(Fn102). For details, see "Auxiliary Functions".
！
Cautions
1. When adjusting automatically, be sure to adjust the command offset while the
servo is off and the host computer (PLC, knob, etc.) gives 0V voltage command.
2. When adjusting manually, observe the running status of the motor while adjusting
under servo ON.
3. The offset adjustment value will not be initialized if factory default
5.4.4 Speed Limit in Torque Control

The function to limit the servo motor speed so as to protect the driver.
In torque control, the servo motor is controlled to output the commanded torque, but the motor speed is not controlled.
Therefore, when the input command torque is more than the machine torque, the motor speed will increase greatly. In
this case, speed limits need to be made through this function.

5 Operation
5.5 Hybrid Control Mode Selection
The servo unit can combine any two of the various control modes and switch them. The control method is selected
by Pn000. The following describes the switching method and condition:

code name address
Control mode
0~11 0 - 0x0000 Restart effective
selection
4- Internal Speed <-> Analog Speed: Switch control mode via ON/OFF of switching value /SPD-A
and /SPD-B
5- Internal Speed <-> Position Mode: Switch control mode via ON/OFF of switching value /SPD-A
and /SPD-B
6- Internal Speed <-> Torque Mode: Switch control mode via ON/OFF of switching value /SPD-A and
/SPD-B
7- Position Mode <-> Analog Speed: Switch control mode via ON/OFF of switching value control
Pn000 mode switch (/C-SEL) signal
8- Position Mode <-> Torque Mode: Switch control mode via ON/OFF of switching value control
mode switch (/C-SEL) signal
9- Torque Mode <-> Analog Speed: Switch control mode via ON/OFF of switching value control
mode switch (/C-SEL) signal
10- Analog speed <-> Speed mode of zero position function: When controlling speed, zero position
clamp function can be used
11- Position Mode <-> Position mode of command pulse disabled: When control position, command
pulse disable function can be used.
16- EtherCAT mode
1. Switch with internal speed control (Pn000 = 4, 5, 6)

a) The switching value input signal distribution mode is internally fixed (Pn600=0). The control mode (second
mode) and internal setting speed can be switched by the /SPD-A and /SPD-B signals.
Switching value input signal Pn000 setting

Speed
positive and
/SPD-D /SPD-A /SPD-B negative 4 5 6
（CN1-41）（CN1-45）（CN1-46） instructions
Determined by Analog speed Position Torque

OFF OFF
second mode mode mode mode
OFF ON Internal speed 1 (Pn304)
OFF
ON ON Positive Internal speed 2 (Pn305)
ON OFF Internal speed 3 (Pn306)
Determined by Analog speed Position Torque
OFF OFF
second mode mode mode mode
OFF ON Internal speed 1 (Pn304)
ON
ON ON Negative Internal speed 2 (Pn305)
ON OFF Internal speed 3 (Pn306)
No limits for each mode switch. While motor running, speed control, position control or torque control can be
switched to internally setting speed control.

5 Operation
Speed 3 Deceleration stop

(Pn311)
Speed 2
Speed 1
/COIN
Command pulse
/SPD-A
OFF ON ON OFF OFF OFF
/SPD-B
ON ON OFF OFF OFF ON
Command Speed Speed Speed3 Switching Pulse Speed 1

1 2
Internal
Mode
Internal speed Position Speed mode
mode mode
Note: The internal speed mode is decelerated during the deceleration time
set by Pn311 to stop the motor, then switch to the position mode.
b) Switching value input signal distribution mode is parameter configuration (Pn600=1 default parameter)
Through the ON/OFF switching control mode of the control mode switching (/C-SEL) signal, the signal is not
configured in the factory default switching value input configuration. Therefore, the pin number configuration of the
function is performed by parameters Pn601~Pn609 (0x0B).
Switching value input signal Pn000 setting

/C-SEL
4 5 6
(Parameter configuration)
ON Analog speed mode Position mode Torque mode
OFF Internal speed mode
2. Switch excepts the internal set speed control (Pn000 = 7, 8, 9)

a) The switching value input signal distribution mode is internally fixed (Pn600=0).
Switching value input signal Pn000 Setting
/C-SEL (CN1-41) 7 8 9
ON Analog speed mode Torque mode Analog speed mode

OFF Position mode Position mode Torque mode

5 Operation
b) Switching value input signal distribution mode is parameter configuration (Pn600=1 default parameter).
Switching value input signal Pn000 Setting
/C-SEL 7 8 9
ON Analog speed mode Torque mode Analog speed mode
OFF Position mode Position mode Torque mode
3. Switch excepts internally set speed control switching (Pn000 = 10, 11)
a) The switching value input signal distribution mode is internally fixed (Pn600=0)
Switching value input

Pn000 setting
signal
/C-SEL
10 11
（CN1-41）
Speed mode with zero position clamp Position mode with command pulse inhibit
ON
function function
OFF Speed mode Position control
b) Switching value input signal distribution mode is parameter configuration (Pn600=1 default parameter)
Pn000 Setting
Switching value input signal
10 11
/ZCLAMP Speed mode with zero position

ON -
clamp function (*1)
（parameter
configuration） OFF Speed mode -
Position mode with command pulse inhibit
/INHIBIT ON -
function
（parameter
configuration） OFF - Position control
*1: The enabled method of the switching value zero-position clamp signal (/ZCLAMP) must be used in conjunction
with the parameters Pn312 and Pn313. Refer to the description of the function code.
5.6 Other Output Signals
5.6.1 Servo Ready Output Signal

The servo ready output signal (/S-RDY) is a signal that indicates that the servo unit can receive servo ON (/S-ON)
signals and command signals.
This signal is output under the following conditions:
 The main circuit power is on. For details of the output timing sequence of /S-RDY during power-on, refer
to "Power-up enable ON timing".
 Non-hardwired base blocking status
 No alarm occurred
 When using an absolute encoder, the SEN signal turns ON (H level)
1. Servo-ready parameter configuration
In the factory default switching value output configuration, the signal is configured as CN1's 25th and 26th pin
numbers (Pn613=0x00). Please confirm before use.

5 Operation
2. Servo ready wiring

The servo ready signal is a universal configurable switching value output. Refer to "Sequence Output Circuit" for
wiring details.
5.6.2 Warning Output Signal

The warning output signal (/WARN) is a warning function before the alarm, which makes it easier for the host device
to judge the operation of the servo unit in advance. For detailed warning code, please refer to "Warning Code".
1. Configuration of warning output signals
This signal is not configured in the factory default switching value output configuration. The pin number configuration
(0x07/0x107) needs to be performed by parameters Pn613~Pn615.
2. Polarity setting of warning output signals
The polarity of servo warning detection can be changed by setting the switching value output configuration as 0x07
/ 0x107.
3. Wiring of warning output signal
The warning output signal is a general configurable switching value output signal. See "sequence control output
circuit" for wiring details.
5V~30V 5V~30V
Servo Servo
driver driver
SEN SEN
OCZ OCZ
GND GND
Twisted Twisted
pair pair

5 Operation
5.7 Timing Sequence
5.7.1 Power Enable ON Timing Sequence

Main Main circuit power up
power
Control Control circuit power up

power 2s
CPU status initialization normal operation

250ms
Servo Ready
invalid valid
(/S-RDY)
Servo enable
invalid valid
(/S-ON)
40ms
PWM
Servo no output Servo output
output
Action time *1
Electromagnetic Motor holding brake
Motor holding brake
brake(/BK) Loose brake
Position/speed/torque *1 Instruction
command input Invalid command input input valid
1: There is a delay in tHe electromagnetic brake operation. The operation time varies depending on the type
of the brake. It is recommended to be 100ms and above to ensure that the electromagnetic brake is fully
released when the command is input. This time can be omitted when the motor is without brake.

5 Operation
5.7.2 Enable ON Power-Off Timing Sequence
Main circuit
Main power
loses power
*1 Power off the

Control power control circuit
*3
PWM output Servo output Servo no output
Position/speed/
torque valid invalid
command input
Loose Motor holding
brake brake
Brake chain signal *2
Loose brake
(/BK) output
1: Undervoltage fault occurs when the control power supply voltage drops below 170V/350V (220V series/400V series)
2: The time from /BK Output to the motor actual braking varies depending on the type of the brake.
Refer to "Electromagnetic brake" for the timing of the /BK signal when the alarm or enable is OFF.
3: For the vertical shaft, if it power off while enabled On, the motor braking may not be completed and machine could move.

5 Operation
5.8 Full closed-loop control
5.8.1 What is a full closed-loop system
The full closed-loop system is a system that uses external position feedback device (external encoder or grating
ruler, etc.) to detect the actual machine position of the controlled object and feed back the actual machine position
information to the servo unit. Because the actual machine position is directly fed back to the driver, high-precision
positioning control can be realized.
The full closed-loop servo system can eliminate the error caused by mechanical transmission mechanism, while the
semi closed-loop servo system can only compensate part of the error. Therefore, the accuracy of the semi-closed-loop
servo system is lower than that of the full closed-loop system. Because of the position detection device, the position
control accuracy of the closed-loop feed system mainly depends on the resolution and accuracy of the detection device
(grating ruler, etc.) after other factors are determined.
The structure of the full closed-loop and semi closed-loop servo system is more complicated than that of the open-
loop feed system because of the position detection device. In addition, because the mechanical transmission mechanism
is partially or completely included in the system, the natural frequency, damping and clearance of the mechanical
transmission mechanism will become unstable factors of the system. Therefore, the design and debugging of the closed-
loop and semi closed-loop systems are more difficult than those of the open-loop systems.
The system structure is as follows:
1. The gain adjusted in the semi closed-loop mode may not be applic able in the full
！ closed-loop mode. The refore, after the adjustm ent is completed in the sem i-closed-
loop mode, it is necessa ry to re optim ize the gain parameters if switch to full closed-
Cautions loop mode, to make the mechanic al equipm ent in good ope ration
2. In order to use the full closed-loop func tion, the system must r un normally in the
semi closed-loop mode before switching to the full c lose d-loop mode for debugging

5 Operation
5.8.2 Parameter setting of full closed-loop control
Position Speed Torque

Parameters Setting content Chapter
control control control
Pn002 Motor rotation direction selection ○ ○ ○ 3.2
Pn250 Application of external encoder in full closed loop ○ ○ ○ 3.2
control
Pn253 Resolution of external grating ruler ○ ○ ○ 3.3
Pn204/Pn206 Electronic gear ratio numerator / denominator ○ ─ ─ 3.5
Pn252 The deviation coefficient between the load of the ○ ─ ─ 3.6
motor with one full closed-loop rotation
Pn257 Setting of excessive deviation between motor and ○ ─ ─ 3.6
load
5.8.3 Control block diagram of full closed loop control
5.8.4 Setting of motor rotation direction and machine moving direction

5 Operation
When setting motor rotation direction and machine moving direction for full closed-loop control, pn002 (rotation
direction selection) and PN250 (use method of external encoder in full closed-loop control) must be set at the same time.
Pn250 Application of external encoder in full closed loop control
Parameter
1 3
Command Reverse Reverse

FWD command FWD command
direction command command
0 Motor rotation
CCW CW CCW CW
Pn002 direction
Motor External encoder FWD move REV move REV move FWD move
rotation Command Reverse Reverse

FWD command FWD command
direction direction command command
1 Motor rotation
CW CCW CW CCW
direction
External encoder REV move FWD move FWD move REV move
• The frequency division pulse is independent of the setting of pn002, and becomes B-phase lead for forward
rotation command.
• FWD direction: the direction in which the pulse count is positive
• REV direction: pulse counting is the direction of counting down

5 Operation
Other parameters
◆Pn002 Motor rotation direction selection
Facing the end face of the motor: 0-clockwise direction is FWD, 1-clockwise direction is FWD
◆Pn250 Application of external encoder in full closed loop control
Set Pn250 =1 or Pn250 =3 in full closed-loop control
Parameters Name Definition Effect time Variety
0(default) Not use full closed-loop control

Application of external
1 Use in standard running direction
Pn250 encoder in full closed Re-electrify Set
2 Backup
loop control
3 Use in reverse running direction
Supplementary note:
please confirm the setting value of PN250 according to the following points:
(1) Set PN250 = 1, which is used in the standard running direction
(2) Manually rotate the motor shaft along the CCW direction
(3) When the full closed-loop feedback pulse counter counts positively (un012), or the servo monitoring
parameter un007 (feedback pulse counter) and un012 (external encoder feedback pulse counter) change
in the same direction, the setting of PN250 remains unchanged (PN250 = 1)
(4) When the full closed loop feedback pulse counter counts down, or if the servo monitoring parameter un007
(feedback pulse counter) and un012 (external encoder feedback pulse counter) change in different
directions, PN250 = 3
5.8.5 Resolution of external grating ruler
Through pn253, the pitch value of the external encoder grating ruler is set by pn253, which is also called the
resolution of grating ruler
For example:
[parameters]
Pitch of grating ruler of external encoder: 0.5 μ M

Ball screw lead: 16mm
If the motor is not directly connected through the reduction mechanism
Then 16mm / 0.0005mm = 32000, so the setting value is "32000".

5 Operation
(Note) 1. When the mantissa appears, please round the number after the decimal point.
2. When the pitch value of the external encoder grating ruler with motor rotation for 1 turn is not an integer, relative
to the position loop gain (KP), feedforward, position command speed, monitoring as the state of containing error. But it
has nothing to do with the position loop, so it will not affect the position accuracy.
Relative parameter
Parameter Parameters Range Default Unit Communication Effective
code value address method
Pn253 Resolution of 4～ 32768 Pulse/r 0x0253 Restart
external grating ruler 1048576 effect
Set the pitch value (feedback pulse number) of external grating ruler when the motor shaft rotates for 1 turn
5.8.6 Setting of frequency division pulse output signal of grating ruler / encoder
Set the frequency division output of external position to pn070. The set value should input a and b phase edge
values.
Pitch of grating ruler of external encoder: 16mm
Ball screw lead: 16mm
Speed: 160mm / S
The setting value is "4000" when the output is 1 μ m with 1 pulse (4 times of increasing value).
The setting value is "8000" when the output is 0.5 μ m with 1 pulse (the value after 4 times increment).
When the setting is "20", the output waveform of encoder frequency division pulse is shown in the right figure.
The upper frequency limit value of encoder signal output is 4Mpps (the value increased by 4 times), so the setting
value should not exceed 4Mpps. If the upper limit value is exceeded, A.511 (frequency division pulse output over speed
alarm) will be output
When the setting value is "4000", the speed is 1600mm / s,
(1600mm/s)/0.001mm= 1600000 = 4Mpps。

5 Operation
1.6Mpps < 4Mpps, so this setting value can be used
5.8.7 Setting of Electronic Gear
The setting range of the electronic gear ratio is as follows:
0.001 ≤electronic gear ratio (B/A) ≤ 16778
When the setting range is exceeded, ER.040 (parameter setting abnormal alarm) will occur.
Function Parameters Range Default Unit Communication Effect
code address
Pn204 Electronic gear ratio (molecular) 0~1073741824 64 1 0x006/0x207 Restart effect
Pn206 Electronic gear ratio (denominator) 0~1073741824 1 1 0x008/0x09 Restart effect
Calculation method of electronic gear ratio setting value
◆Semi closed-loop control
When the machine deceleration ratio of motor shaft and load side is n / M (when the motor rotates m turns, the load
shaft rotates n turns), the setting value of electronic gear ratio can be obtained as following formula.
Electric gear ratio

𝐵 𝑃𝑛204 Number of encoder lines 𝑚
= = ×
𝐴 𝑃𝑛206 Movement of load shaft 1 revolution (instruction unit) 𝑛
Movement corresponded with input command 1 pulse
= Movement corresponded with grating ruler output 1 pulse
Encoder resolution
The encoder resolution can be confirmed by the servo motor model. The suffix D1 or D2 is 23 bit encoder, the suffix
is Q1, Q2, R1, R2 is 17 bit encoder, the suffix is E1, E2 is 24 bit encoder
◆Full closed-loop control
Electric gear ratio

𝐵 𝑃𝑛204 1 instruction unit movement (instruction unit)× number of segments of linear encoder
= =
𝐴 𝑃𝑛206 Pitch of grating ruler for linear encoder
Movement corresponded with input command 1 pulse
=
Movement corresponded with grating ruler output 1 pulse
Supplementary Notes
About resolution
The resolution used in the servo unit (the movement of 1 feedback pulse) can be obtained as following formula:
the grating ruler pitch of linear encoder
Resolution(the movement of 1 feedback pulse) = the segment number of serial conversion unit or linear encoder
The servo unit controls the servo motor in the unit of feedback pulse

5 Operation
5.8.8 Setting example of electronic gear ratio
The grating ruler pitch of linear encoder = 1 cycle distance of analog voltage feedback signal sent by linear encoder
The lead of screw rod is 16mm and the transmission ratio is 1:1 (direct connection).
Semi closed-loop mode:
Steps Contents Mechanical composition
1 Number of motor encoder lines 24bit encoder lines number 16777216
2 The number of pulses required for one The command unit is 0.0005mm (0.5 μ m), and the
turn of the screw rod number of pulses is 32000

𝐵 16777216
3 Electronic gear ratio =
𝐴 32000
4 Parameters Pn204=16777216, Pn206=32000
Full closed-loop mode:
Steps Contents Mechanical composition
1 Grating resolution of linear encoder 0.0005mm （0.5µ m）
2 Command unit 0.0005mm （0.5µ m）

𝐵 0.5 1
3 Electronic gear ratio = =
𝐴 0.5 1
4 Parameters Pn204=1, Pn206=1
5.8.9 Setting of alarm detection
The alarm detection settings (Pn252, Pn257) are shown below
The setting of detection value excessive deviation between motor and load position (pn257) is the difference
between motor encoder feedback (position) and full closed-loop external encoder feedback (load position). If the set value
is exceeded, output = Er.d10 (alarm of excessive deviation between motor and load position)
Detection value of excessive deviation between motor and load position
Postion mode
Pn257
Setting range Setting unit Default Effective time Variety
0 ～ 1073741824 1 Command unit 1000 Immediately effective Setting

5 Operation
(Note) when set to "0", Er.d10 is not output.
Setting of deviation coefficient (Pn252) between motor loads when full closed-loop rotation 1 turn
Set the "coefficient of deviation between motor and external encoder" when the motor rotates for 1 turn. It can be
used to prevent out of control caused by damage of external encoder, or to detect "sliding" in belt mechanism.
◆Setting Design
When the sliding rate of the belt is large or seriously twisted, please increase the value.
If the setting value is "0", the value of the external encoder is read directly.
When the factory setting value is "20", the second turn starts from the deviation after 1 revolution of the motor
multiplied by 0.8
◆Relavant parameters
Coefficient of the deviation between the motor and the external encoder for one full closed-loop rotation
Postion mode
Pn252
Setting range Setting unit Default Effective time Variety
0 ～ 100 1% 20 Immediately effective Setting

Adjustment
6 Adjustment
6.1 Adjustments
6.1.1 Adjustments Steps

Adjustments refer to optimaize the function of responsiveness by adjusting the servo unit’s servo gain. Servo gain
is set by the combinations of many parameters, including speed circle gain, position circle gain, filter, friction compensation,
rotation inertia and so on. These paramenters would influence with each other, so you must take the balance among all
paramenters into the consideration while setting. The factory settings of the servo gain are stable settings. Use all the
adjusting functions according to the uses’ mechanical conditions in order to improve the responsiveness. The following
figure is basic adjustment procedure flow chart; please adjust the machine according to the status and operating
conditions of the machine.

Adjustment
Starting adjusting
Adjust with robust

control
No
Yes
Is the adjustment result
satisfactory? End
No
Smart settings
adjustment via no
instructions
Yes
satisfactory? End
No
Adjust with
broadband settings
Yes
satisfactory?
End
No
Adjust with
broadband settings
No
Yes
Is the adjustment result End
satisfactory?
6.1.2 Safety Precautions When Adjusting

When you are making adjustments, please set the servopack protection functions shown below under appropriate
conditions.
i. Set the overtravel
Please set the overtravel and you could refer to the servo enable and overtravel setting if you want more details.
ii. The settings of the torque limit
The torque limit function is about calculate the torque that mechanical motions need in order to make sure that the
torque is not greater than this troque limit value. If the torque is set below the value required for operation, overshoot or
vibration may occur.

Adjustment
See more details in the “torque limit”.

iii. Set excessive position deviation alarm value
The excessive position deveiation alarm is an effective protection function when we are using servo unit for position
control. When the motor operation does not match the command, you can detect the abnormal condition and stop the
motor by setting an appropriate position deviation alarm. The position deviation is the difference between the position
command value and the actual position. The position deviation can be expressed by the relationship between the following
position loop gain (Pn103) and motor speed.
Motor speed[min−1 ] Encoder resolution∗1 Pn206

Position deviationinstruction unit = ∗ ∗
60 Pn103[0.1⁄s]⁄102 Pn204
When the acceleration/deceleration of the position command exceeds the tracking ability of the motor, the follow-up
hysteresis will become large, resulting in the positional deviation not satisfying the above relation. Please reduce the
acceleration and deceleration of the position command to the value that can be tracked by the motor or increase the value
of the excessive position error alarm.
iv. Set the vibration detection function
Please initialize (Fn105) the detection value detected by the vibration and set an appropriate value for the vibration
detection function. For details, refer to the corresponding "Accessibility"
v. Set excessive position deviation alarm value when servo is ON
If the servo is turned ON while the position deviation is accumulated, the motor will return to the original position to
make the position deviation "0"and avoid causing a danger. In order to avoid this kind of situation, you can set an
excessive position deviation alarm value when the servo is turned on to restrict the operation.

Adjustment
6.2 Robust Control
In factory default, the robust control function is valid. When resonance and vibration occur, please change the attune
value and load value via Fn301 or set Pn177 and Pn178.
6.2.1 Profile
Robust function could get stable response through adjusting the whole system automatically no matter what kind of
mechanisim or fluctuation of load.
When
Function code Name Range Default Unit Communication address
enabled
Robust
0x00~0
control 1 － 0x0175 After restart
x01
selection
Pn175
Set the robust control function switch:
0-invalid
1-valid
Robust
control 10~80 40.0 Hz 0x0177 Immediately
tuning value
Pn177
Set a greater robust control gain tuning value, systematic response gets faster, but system
overshoot and excessive noise may occur
The
minmum
value of 0~500 0 % 0x0178 Immediately
robust
Pn178 control
Set a greater load ratio of robust control, systematic response gets faster, but the systematic
excessive noise may occur, and we could increase this value in order to decrease the over-
sdjustment and overshoot when torque is excessive.
Robust control function is valid in position control or speed control and invalid in torque control. When robust control
is valid, some of the control functions of the table below would be restrained.
Function name Operation Executable conditions and notes

Robust control is invalid in
Vibration detection value initialization
Yes operation, and it turns to be valid
(Fn105)
when the operation is over
Bandwidth setting(Fn303) No
EasyFFT （Fn401） Yes operation, and it turns to be valid
Gain shift No
Inertia recognization Yes operation, and it turns to be valid
Mechanical analysis Yes operation, and it turns to be valid
Parameters which become invalid when robust control function are valid. When we set robust control function valid
in factory default, the Pn100、Pn101、Pn102, Pn103, Pn105, Pn106, Pn107, Pn140, Pn110, Pn170 are invalid.

Adjustment
6.2.2 Steps
Robust control function could be set via the auxiliary function Fn301 on panel operator and more details on”
Accessibility”, or we could set relevant parameters via” parameters setting”
！
Caution
Before operating the robust control function, please confirm the setting
below, if not, it will display NO-OP in operation:
1. Robust control function is valid (Pn175=1)
2. No-motor debugging function is invalid (Pn730=0)
6.2.3 Supplement
In robust control, due to the increase of the tuning value, the system may cause resonance noise. You can set the
Pn151 to choose whether to automatically set the notch. The factory default is “Auto-tuning”. Only when the corresponding
notch function is not needed, it is set to “Auto-adjust without auxiliary function.”
Communication
Function code Name Range default Unit When enabled
address
Automatic
adjustment
0x00~0x0
and selection 1 － 0x0151 Immediately
1
Pn151 of notch filter
2
0-No automatic adjustment via auxiliary functions
1-Automatic adjustment via auxiliary functions
6.2.4 Relevant Parameters

The parameters need to be set are shown as below when operating robust control function:
Parameter Name
Pn175 Robust switch
Pn104 First torque command filter
Pn156 Second notch filter frequency
Pn157 Second stage notch filter Q value

Adjustment
6.3 Inertia Recognition
6.3.1 Profile:
Inertia recognition means that the servo unit performs automatic operation (forward and reverse reciprocating motion)
without issuing commands from the upper device, and the load inertia moment is recognized during operation. The rotary
inertia ratio (ratio of load inertia to motor rotor inertia) is the reference parameter for performing the gain adjustment, and
the correct value must be set as far as possible. The load moment of inertia can be calculated based on the weight and
composition of each part of the machine, but the operation is very tedious. With this function, after the motor is driven
several times in the positive/negative direction, a high-precision load moment of inertia value can be obtained.
The motor operates according to the following operating specifications.
 The highest speed: ± 1000min-1 (changeable)
 Acceleration: ± 20000min-1/s (changeable)
 Travel distance: maximum ± 2.5 turns (changeable)
6.3.2 Steps
The inertia recognition function can only be identified by the upper computer debugging software VCSDsoft. For
details on the identification procedure, refer to “Upper Position Debugging Related” - “Inertia Identification”.
6.3.3 Supplyment
 When identifying the inertia, please make sure that the system can operate the range and set the operating
conditions reasonably according to the operable range. Under different operating conditions, the
recognition result may have minor deviations.
 If the servo torque limit is set too small, the result of inertia identification may be affected, resulting in
discrepancy between the identification result and the actual inertia. Please confirm before identification.
 After inertia identification, after changing the inertia ratio (Pn100), the original gain-related parameters of
the servo system need to be re-adjusted, otherwise vibration and noise may occur.

Adjustment
6.4 Intelligent Setting
6.4.1 Profile
Users can choose intelligent setting with command input and no command input
(1) No command input
It means the function of automatically adjusting the servo unit according to the mechanical characteristics when the
automatic operation (forward and reverse reciprocating motions) is performed within the set range. Intelligent settings can
be performed without connection to the control system. The automatic operation is as follows
 Highest speed: motor rated speed
 Acceleration torque: motor rated torque about 100%
 Move distance: can be set arbitrarily. The factory setting is equivalent to 3 turns of the motor
(2) command input
It is the method of automatically adjusting the running command from the host control system. The command
intelligent setting can also be used for additional adjustments after the commandless intelligent setting. When the correct
moment of inertia ratio is set, no-instruction intelligent setting can be omitted, and only the intelligent setting operation
with instructions is performed.
！
Cautions
The command smart setting starts with the current speed loop gain (Pn101) as a
reference. If vibration occurs at the start of the adjustment, correct adjustment
cannot be performed. In this case, lower the speed loop gain (Pn101) until the
vibration disappears, and then readjust.
The intelligent setting process adjusts the following items:

 Moment of inertia ratio (intelligent setting without command)
 Gain adjustment (speed loop gain, position loop gain, etc.)
 Filter adjustment (torque command filter, notch filter)
 Friction compensation
 IF suppression control
 Vibration suppression
 Low-frequency vibration suppression (only when Mode = 2 or 3) (without command smart setting)
6.4.2 Steps
The intelligent setting function cannot be set by the panel operator, and it needs to cooperate with the host computer
debugging software to perform related operations. The instructionless intelligent setting is slightly different from the related
operation of the instructional intelligent setting. For detailed steps, see "host computer operation instructions" - "Intelligent
setting".
(1) Confirmation before execution
Before performing intelligent settings, be sure to confirm the following settings. If set incorrectly, this function cannot
be performed during operation.
 No overtravel has occurred
 No torque control

Adjustment
 Gain switching selection switch is manual gain switching (Pn110 = 0) and is the first gain
 No motor test function is invalid (Pn730 = 0)
 No alarm or warning occurred
 Robust control function is invalid (Pn175 = 0)
！
Cautions
1. When the commandless intelligent setting is executed in the speed control status, it
will automatically switch to position control to perform adjustment, and return speed
control after adjustment is completed.
2. The intelligent command setting cannot be executed in the speed control status.
3. During the intelligent setting process, the command pulse input override switch
function becomes invalid.
(2) Failed to perform adjustment or adjustment failed example

In the following occasions, intelligent settings will not be performed properly. Please use the bandwidth setting (see
"Bandwidth setting" for details).
 The motor is in power (in servo ON) in position control (with command intelligent setting)
 When the mechanical system can only run in one direction
 The scope of activities is narrow, below 0.5 laps
 When the moment of inertia changes within the set operating range
 When the mechanical dynamic friction is large
 The mechanical rigidity is low and vibration occurs during positioning
 When P (proportional) control is selected, "Load inertia moment measurement" is selected, In the moment
of inertial recognition, or when switching from P/CON signal to P control
 When using the mode switch, when "Load moment of inertia measurement" is selected, the mode switch
function becomes invalid during the moment of inertia recognition and becomes PI control. The mode
switch function becomes active again after the moment of inertia recognition is completed.
 When speed feed forward and torque feed forward are input
 When the positioning complete width (Pn262) is small
！
Cautions
1. When there is no command intelligent setting, when the variable inertia load is
changed and the adjustment fails, please replace the adjustment mode and adjust with
broadband settings or robust control.
2. In the intelligent setting, please set "electronic gear ratio (Pn204/Pn2016)" and
"positioning completion range (Pn262)" to the actual running values, otherwise the
adjustment may fail or the adjustment result does not match the actual operation
result.
6.4.3 Supplyment
(1) Vibration suppression function
Before the intelligent setting, you can set whether the related vibration suppression function is automatically set.
The factory default is to set automatically, please set the corresponding function switch to “Do not adjust automatically”
before you want to change the value of the smart setting.
When
enabled

Adjustment
IF suppression
0x00~0x11 0x0010 － 0x0140 Immediately
control options
The IF suppression control function effectively suppresses the continuous vibration of about 100
to 1000 Hz that occurs when the control gain is increased.
Pn140 0x1#: Automatically set IF vibration suppression frequency through smart setting and bandwidth
setting
0x0#: Not set automatically through intelligent setting and bandwidth setting, only manual setting
0x#1: IF suppression frequency setting is valid
0x#0: IF suppression frequency setting is invalid
Notch filter 1
automatic
0x00~0x01 1 － 0x0150 Immediately
adjustment
Pn150
selection
0- Automatic adjustment without auxiliary functions
1- Automatic adjustment through auxiliary functions
Notch filter 2
automatic
adjustment
Pn151 selection

Low frequency
vibration
suppression
function automatic
adjustment
Pn231
selection
This parameter is set in the intelligent settings, bandwidth settings and other auxiliary functions
under low-frequency vibration suppression is automatically set to choose:
0 - Vibration suppression function is not automatically adjusted by auxiliary functions
1- Vibration suppression function is automatically adjusted by auxiliary functions
(2) Feed forward function

In the factory setting mode, when the tuning mode is executed by "2", "3", "feedforward command (Pn109)", "speed
feedforward (VREF) input", and "torque feedforward (T-REF) input "will become invalid.
According to the system configuration, if you want to use "V-REF input", "Torque feedforward (T-REF) input" and
model tracking control from the upper device at the same time, set Pn249 = 1.
！
Cautions
When using model tracking control under this function, the model tracking control will set the optimal
feed forward within the servo. Therefore, the "V-REF input" and "T-REF input" from the upper device
are not always used at the same time. If the input feedforward is incorrect, overshoot may be caused.
However, it can be used as appropriate, so please pay attention.
6.4.4 Related Parameters

The parameters that may be changed when executing the smart setting function are as follows:
Parameter Name
Pn100 Rotary inertia ratio
Pn101 First speed gain
Pn102 First speed integral time constant

Adjustment
Pn103 First position gain

Pn140 Medium frequency vibration suppression control selection
Pn141 Medium frequency vibration suppression inertia modification
Pn142 IF suppression frequency
Pn143 IF damper attenuation gain
Pn153 Notch filter 1 frequency
Pn154 Notch filter 1Q value
Pn155 Notch filter 1 depth
Pn157 Notch Filter 2Q Value
Pn240 Model tracking control selection
Pn241 Model tracking control gain
Pn242 Model tracking control attenuation coefficient
Pn243 Model tracking control speed feed forward gain
Pn244 Model tracking control forward torque feed forward gain
Pn245 Model tracking control reverse torque feed forward gain
6.5 Bandwidth Setting
6.5.1 Profile
The bandwidth setting is a method of inputting a speed command or a position command from the host device, and
manually adjusting the running speed.
By adjusting one or two values with the bandwidth setting, the relevant servo gain setting can be automatically
adjusted.
 The bandwidth setting adjusts the following items:
 Gain adjustment (speed loop gain, position loop gain, etc.)
 Filter adjustment (torque command filter, notch filter)
 Friction compensation
 IF suppression control
 Low frequency vibration suppression
 Use the bandwidth setting when you cannot achieve satisfactory response characteristics after setting it by
smart settings. If you want to further fine-tune each servo gain after adjusting the bandwidth setting, see
“Manual adjustment” for manual tuning.
6.5.2 Steps
Before performing bandwidth setting, be sure to confirm the following settings. If it is set incorrectly, "NO-OP" will be

Adjustment
displayed in the operation and this function cannot be performed.

 Invalid selection of no motor test function (Pn730 = 0)
 Robust control selection is invalid (Pn175 = 0)
 Tuning mode is set to 0 or 1 when tuning is performed by speed control
The bandwidth setting procedure can be performed by any one of the panel operator or the upper level debugging
software. However, the panel operator can only operate when the tuning mode is set to “0-stability” or “1-high response”.
For detailed operation procedure, see “Bandwidth Setting (Fn303)”. When positioning-specific adjustments "2-positioning"
and "3-positioning are not required to be over-tuned" are required, they must be used in conjunction with "host computer
debugging software".
！
Cautions
After the inertia recognition or intelligent setting correctly set the moment of inertia
ratio (Pn100), perform the broadband setting operation.
6.5.3 Supplyment
(1) Viabration suppression function
Before setting the bandwidth, you can set whether the related vibration suppression function is automatically set.
The factory default is to set automatically. Please set the corresponding function switch to “Do not adjust automatically”
before you want to change its value through the bandwidth setting.
When
enabled
IF suppression
0x00~0x11 0x0010 － 0x0140 Immediately
control options
The IF suppression control function effectively suppresses the continuous vibration of about 100
to 1000 Hz that occurs when the control gain is increased.
Pn140
0x1#: Automatically set IF vibration suppression frequency through smart setting and bandwidth
setting
0x0#: Not set automatically through intelligent setting and bandwidth setting, only manual setting
0x#1: IF suppression frequency setting valid
0x#0: IF suppression frequency setting invalid
Notch filter 1
automatic
adjustment
Pn150
selection
Notch filter 2
automatic
adjustment
selection
Pn151
Low frequency
vibration
suppression
Pn231 0x00~0x01 1 － 0x0231 Immediately
function automatic
adjustment
selection

Adjustment
This parameter is set in the intelligent settings, bandwidth settings and other auxiliary functions
under low-frequency vibration suppression is automatically set to choose:
0 - Vibration suppression function is not automatically adjusted by auxiliary functions
1- Vibration suppression function is automatically adjusted by auxiliary functions
(2) Feed forward function

In the factory setting mode, when the tuning mode is executed by "2", "3", "feedforward command (Pn109)", "speed
feedforward (VREF) input", and "torque feedforward (T-REF) input "will become invalid. According to the system
configuration, if you want to use "V-REF input", "Torque feed forward (T-REF) input", and model tracking control from the
host device at the same time, set Pn249 = 1.
！
Cautions
When using model tracking control under this function, the model tracking control will set the optimal
feed forward within the servo. Therefore, the "V-REF input" and "T-REF input" from the upper device
are not always used at the same time. If the input feedforward is incorrect, overshoot may be caused.
However, it can be used as appropriate, so please pay attention.
6.5.4 Related Parameters

The relevant parameters and parameters that are automatically set when executing the bandwidth setting function
are as follows:
Parameter Name
Pn100 Rotary inertia ratio
Pn101 First speed gain
Pn102 First speed integral time constant
Pn103 First position gain
Pn140 Medium frequency vibration suppression control selection
Pn141 Medium frequency vibration suppression inertia modification
Pn142 IF suppression frequency
Pn143 IF damper attenuation gain
Pn154 Notch filter 1Q value
Pn157 Notch Filter 2Q Value
Pn240 Model tracking control selection
Pn241 Model tracking control gain
Pn242 Model tracking control attenuation coefficient
Pn243 Model tracking control speed feed forward gain
Pn244 Model tracking control forward torque feed forward gain

Adjustment
Pn245 Model tracking control reverse torque feed forward gain
6.6 Manual Adjustment Function
After the intelligent setting and bandwidth setting adjustment, the function for further individual adjustment is required:
6.6.1 Servo Gain
To manually adjust the servo, gain, adjust the servo gains one by one based on understanding
the composition and characteristics of the servo unit. In most cases, if there is a large change in one
parameter, the other parameter must be adjusted again. In order to confirm the response
characteristics, preparations must be made to observe the output waveform of the analog monitor
using a measuring instrument. The servo unit consists of three feedback loops (position loop, speed
loop, and current loop). The more the inner loop, the more responsive it needs to be. Failure to follow
this principle will result in poor responsiveness or vibration. Since the current loop ensures sufficient
responsiveness, the user does not have to make adjustments. By setting the following servo gains,
the response characteristics of the servo unit can be adjusted.
When
Function code parameter Range Default Unit Communication address
enabled
Rotary inertia ratio 0~20000 100 % 0x0100 Immediately

Pn100
Moment of inertia ratio = load inertia of motor shaft conversion / rotor moment of inertia of servo
motor *100%
First speed gain 1~2000 40.0 Hz 0x0101 Immediately
Pn101 Determine the parameters of the speed loop responsiveness. If the response of the speed loop is
low, it becomes a delay factor of the outer position loop, so overshoot or vibration of the speed
command occurs. In the range where the mechanical system does not generate vibration, the
larger the setting value, the more stable the servo system is. The better the responsiveness
First speed
integration time 0.15~512 20.00 ms 0x0102 Immediately
constant
Pn102 In order to respond to small input, the speed loop contains integral elements. Because this
integral element is a delay element for the servo system, when the time parameter is set too
large, overshoot may occur, or the positioning time may be prolonged, and the responsiveness
may be deteriorated.
First position gain 1~2000 40.0 1/s 0x0103 Immediately
The position loop response is determined by the position loop gain. The higher the setting of the
Pn103 position loop gain, the higher the responsiveness and the shorter the positioning time. The
position loop gain cannot be increased beyond the rigidity of the mechanical system. To increase
the position loop gain to a larger value, the rigidity of the machine must be increased.

Adjustment
First torque
0~655.35 1.00 ms 0x0104 Immediately
command filter
Pn104 Adjusting the parameters of the torque command filter may eliminate the machine vibration
caused by the servo drive. The smaller the value, the better the responsiveness can be
controlled. However, the conditions are restricted by the machine conditions.
Torque command
second-order low-
100~5000 5000 Hz 0x0401 Immediately
pass filter cut-off
Pn401
frequency
Use this parameter to set the cutoff frequency of the second-order torque filter. When this
parameter is set to 5000, the function of the filter is invalid.
Torque command
second-order low- 0.5~1 0.50 1 0x0402 Immediately
pass filter Q
Pn402
By setting this parameter, the Q value of the second-order torque filter can be set. Increasing the
Q value can improve the system responsiveness, but noise will be generated when the setting is
too large.
6.6.2 Gain Switching

The gain switching function includes "manual gain switching" that uses an external input signal and "automatic gain
switching" that automatically switches. By using the gain switching function, the gain can be increased during positioning,
the positioning time can be shortened, and the gain can be reduced and vibration can be suppressed when the motor
stops.
When
Function code Parameter name Range Default Unit Communication address
enabled
Gain switching
mode selection 0x00~0x01 0 － 0x0110 Immediately
switch
The gain switching function includes two methods of “manual gain switching” using an external
input signal and “automatic gain switching” automatically switching. By using the gain switching
Pn110
function, the gain can be increased during positioning, and the positioning time can be shortened
when the motor is stopped. Reduce gain and suppress vibration.
0-Manual Gain Switching by Manual Gain Switching of External Input Signal (G-SEL)
1- When the automatic switching condition is established (Pn111), it automatically switches from
the first gain to the second gain; otherwise, it switches back to the first gain.
Position control
gain automatic
switching
condition
Set the conditions for automatic gain switching:

0-positioning completion signal ON
Pn111
1- Positioning completion signal OFF
2-positioning approach signal ON
3-positioning proximity signal OFF
4-position command is 0 after filter and pulse input is OFF
5-position command pulse input ON
If the condition is met, then switch to the second gain, otherwise switch to the first gain
Gain switching
0~65535 0 ms 0x0112 Immediately
transition time 1
Pn112 After waiting for the waiting time from the time when the switching condition has been
established, the gain of the first position loop is increased to the gain of the second position loop
in the transition time.

Adjustment
Gain switching
transition time 2
Pn113 After waiting for the waiting time from the time when the switching condition has been
established, the second position loop gain is changed to the first position loop gain to change
linearly during the transition time.
Gain switching
wait time 1
Pn114
The time from when the switching condition is established from the first gain to the second gain to
when the switching is actually started
Gain switching
wait time 2
Pn115
The time from when the switching condition is established from the second gain to the second
gain to when the switching is actually started
Switched gain combination
Velocity loop Model tracking

Switching gain Speed loop integration time Position loop Torque Model tracking control gain
gain constant gain command filter control gain correction
First model tracking

First velocity loop First model
First speed First position First torque control gain
integration time tracking control
First gain loop gain loop gain command filter attenuation
constant gain
（Pn101）（Pn103）（Pn104） coefficient
（Pn102）（Pn241）
（Pn242）
Second model
Second Second velocity Second Second model
Second torque tracking control gain
speed loop loop integration position loop tracking control
Second gain command filter attenuation
gain time constant gain gain
（Pn108） coefficient
（Pn105）（Pn106）（Pn107）（Pn246）
（Pn247）
！
Cautions
1. Gain switching of model tracking control gain and model tracking control attenuation coefficient is
only applicable to "manual switching gain"
2. Gain switching of model tracking control gain and model tracking control attenuation factor is
switched only when the following conditions are met:
 No instruction
 The motor is stopped
(1) Manually switch

"Manual switching gain" means the first gain and the second gain are switched by the external input signal gain
switching signal (/G-SEL).
a) Gain switching configuration
(0x0E) needs to be performed by parameters Pn601~Pn609.

Adjustment
b) Gain switching wiring

The gain switching signal is a universally configurable digital input. See "Sequence Input Circuit" for wiring details.
(2) Automatic switching
Function Communicati Way to be

Parameter Range Default Unit
code on address effective
Position control gain automatic switching
condition
0-Position completion signal ON
Pn111 1-Position completion signal OFF
2-positioning proximity signal ON
3-positioning proximity signal OFF
4-position command filtered to 0 and pulse input OFF
5-position command pulse input ON
If the condition is met, switch to the 2nd gain, otherwise switch to the 1st gain.
"Auto switching gain" is only valid in position control. The switching conditions are performed by the following settings:
Switching logic
parameter Switching conditions Switching gain Switching waiting time Switching time
The first gain → Waiting time 1 Switching time 1

Condition A is met
Second gain Pn114 Pn112
Pn111 setting
corresponding condition
A The second gain → Waiting time 2 Switching time 2
Condition A isn’t met
First gain Pn115 Pn113
For example, in the automatic switching gain mode conditioned on the completion of the positioning signal (/COIN),
it is assumed that the position loop gain Pn103 is switched to the second position loop gain Pn107. The /COIN signal of
the switching condition is ON, and after waiting for the waiting time Pn114 from the time when the switching condition has
been met, the gain is changed from Pn103 to Pn107 in a straight line during the switching time Pn112.

Adjustment
Waiting time Switching time

Pn114 Pn112
Position loop
gain
Pn103
The second
position loop
gain
Pn107
/COIN ON OFF
Switching condition
ismet
6.6.3 Speed Feedforward

Feedforward is the function of feedforward compensation to shorten the positioning time during position control. The
speed feed forward is divided into internal speed feed forward (Pn121/Pn122) and analog (V-REF) given speed feed
forward (using V-REF as speed feed forward selection Pn123). This command is sent to the servo together with the
position command unit.
Related parameters

Range Default Unit
code address enabled
Speed feed Immediatel

0~100 0 % 0x0121
forward gain y
Pn121
Speed feed forward is a function to shorten the positioning time. This function is effective when the
servo unit performs position control.
Note: When the feed forward command is too large, position overshooting will occur. Please check
the response while setting appropriatly
Speed
feedforwar Immediatel
0~64 0.00 Ms 0x0122
d filter y
Pn122
time
Speed feed forward low-pass filter time constant, which can slow position overshoot and torque
jump caused by feed forward
Use V-
REF as
0x00~0x0 After
speed 0 － 0x0123
1 restart
feedforwar
Pn123 d selection
Speed feedforward is a function to shorten the positioning time. It is possible to select speed feed
forward via external analog V-REF.
0-None
1- Use V-REF as speed feed forward input
Analog
speed 0.01V/Rated Immediatel
150~3000 600 0x0300
command speed y
Pn300 gain
Required for the rated torque when using this parameter to set the analog voltage value (T-REF) of
the servo motor.
Caution: Do not apply -10~10V voltage. Exceeding this range may cause damage to the driver.

Adjustment
6.6.4 Torque Feedforward

Torque feed forward is a function to shorten the positioning time. The command is generated by deviating the
position command on the upper device side. This command is sent to the servo unit together with the speed command.
The speed command from the upper device is connected to V-REF (CN1-5, 6), and the torque feedforward command is
connected to T-REF (CN1-9, 10).
Related parameters
Function Defaul Communication When

Parameter Range Unit
code t address enabled
Speed/positio
n control
selection (T- 0~1 0 － 0x0124 After restart
REF
Pn124 assignment)
Torque feed forward is a function to shorten the positioning time. Torque feedforward can be
selected by external analog T-REF.
0-None
1- Use T-REF as a torque feed forward input
Analog torque 0.1V/
10~10 Immediatel
command 30 Rated 0x0405
0 y
gain torque
Pn405
Required for the rated torque when using this parameter to set the analog voltage value (T-REF)
of the servo motor.
Caution: Do not apply -10~10V voltage. Exceeding this range may cause damage to the driver.
6.6.5 PI-P Switching

When the control mode is speed control or position control, PI-P control can be switched. When the control mode is
mixed, it is valid only when it is switched to internal speed, analog speed and position mode. The PI-P switching can be
switched by the binary signal manual PI-P control signal (/P-CON). When the /P-CON signal is turned ON, P control is
performed. The conditions for selecting automatic switching can also be selected by the parameter speed loop PI-P
switching condition selection switch Pn131.
(1) Manual PI-P Control
a) Manual PI-P Control Configuration
The signal is not configured in the factory default switch configuration. Therefore, the pin number configuration (0x05)
needs to be performed by parameters Pn601~Pn609.
b) Manual PI-P control wiring
The gain switching signal is a universally configurable digital input. See "Sequence Input Circuit" for wiring details.
(2) Automatic switching
For automatic PI-P switching, the switching condition is set by Pn131, and the switching condition value is set by
Pn132, Pn133, Pn134, and Pn135. By properly setting the switching conditions and condition values, overshoot during
acceleration and deceleration can be suppressed and the settling time can be shortened.

Adjustment
Speed
Speed Overshot
Feedback
Stable Time
Command
Time Time
Over-
adjustment Stable time
Function Communication
Parameter Range Default Unit When enabled
code address
Speed loop PI-P
switching
condition
selection switch
The mode switch is a function that automatically performs P control and PI control switching. Setting
the switching condition by this parameter and satisfying the corresponding switching condition value
Pn131
can suppress overshoot during acceleration and deceleration and shorten the settling time.
0 - Conditioned by internal torque command
1- Conditional speed instruction
2- Conditional acceleration
3- Conditional position deviation pulse
4-No mode switch function
Speed loop PI-P
switching
condition 0~800 200 % 0x0132 Immediately
Pn132 (torque
command)
When the torque command exceeds the torque set by this parameter, the speed loop will be
switched to P control, otherwise PI control
Speed loop
PI-P
switching
condition
Pn133
(speed
command)
When the speed command exceeds the speed set by this parameter, the speed loop will be
Speed loop
PI-P
switching
0~30000 0 rpm/s 0x0134 Immediately
conditions
Pn134
(acceleration
)
When the speed command exceeds the acceleration set by this parameter, the speed loop will be
Speed loop
PI-P
switching Instruction
0~10000 0 0x0135 Immediately
conditions unit
Pn135
(position
deviation)
When the position deviation exceeds the value set by this parameter, the speed loop will be
When the switching condition of the mode switch is set as a torque command [factory setting], when the torque
command exceeds the torque set in Pn10C, the speed loop will switch to P control. The factory torque command value is
set to 200%.

Adjustment
Speed Command
Feedback
Time
Torque
command Torque
Pn132 command
0
Time
Pn132
PI P PI P PI
When the switching condition of the mode switch is used as a speed instruction, when the speed command exceeds
the speed set in Pn10D, the speed loop will switch to P control.
Speed Command Feedback
Pn133
PI P PI Time
When the switching condition of the mode switch is used as acceleration

When the speed command exceeds the acceleration set in Pn10E, the speed loop will switch to P control.
Speed Command
Feedback
Time
ACCE
ACCE
Pn134
0
Time
Pn134
PI P PI P PI
When the switching condition of the mode switch is set as the position deviation, when the position deviation exceeds
the value set in Pn10F, the speed loop will switch to P control. This setting is valid only for position control.

Adjustment
Speed Command
Feedback
Time
Position
offset
Pn135
PI P PI Time

7 Accessibility
7 Accessibility
7.1 List of Auxiliary Functions
The auxiliary function is displayed with a number starting with Fn, and functions related to the operation and
adjustment of the servo motor are performed.
The following table lists the auxiliary functions and reference items.
Auxiliary function number Function description
Fn 000 Display alarm record
Fn 001 Clear alarm record
Fn 002 Software reset
Fn 003 Restore factory parameters
Fn 005 JOG operation
Fn 006 Program JOG operation
Fn 100 Automatic adjustment of instruction offset
Fn 101 Speed command offset manual adjustment
Fn 102 Torque command offset manual adjustment
Fn 103 Current offset automatic adjustment
Fn 104 Current offset manual adjustment
Fn 105 Initialize the detected value of the vibration detection
Fn 303 Bandwidth setting
Fn 401 Easy FFT
Fn 402 Online vibration monitoring
7.2 Displaying Alarm Logs (Fn000)
7.2.1 Overview
The servo unit has a record alarm function and can record up to 10 alarms that have occurred. This auxiliary function
allows you to confirm the number and time of the alarm (measurement of the duration of the control power supply and
the main circuit power supply in 100ms increments, and the function to display the total operation time in the event of an
alarm, if it is 365 days per year. it can last for about 31 years if you operating it 24 hours a day.)
！
Cautions
1. When the same alarm occurs continuously, if the interval between alarms is less than
1 hour, it will not be saved. If it exceeds 1 hour, it will be saved.
2. When an alarm does not occur, “ ----” is displayed on the panel operator.
3, the alarm record can only be cleared by "clear alarm record (Fn001)".

7 Accessibility
7.2.2 Operating Procedure

Long press
DATA/SHIFT
Accessibility
UP: 1 query
Long press DOWN: 9 next Short press
MODE/SET Display DATA/SHIFT
Latest query DATA/SHIFT
Low alarm
Any
alarm Old alarm
interface
record alarm recording time
Long press Short press Short press Short press

DATA/SHIFT DATA/SHIFT DATA/SHIFT DATA/SHIFT
Accessibi Alarm recording Alarm recording
Old alarm
lity time high time median
7.3 Clear Alarm Record (Fn001)
7.3.1 Summary
The alarm record of the servo unit can only be cleared by clearing the alarm record (Fn001) function. Alarm recording
cannot be cleared by resetting the alarm or switching off the main circuit power of the servo unit.

Long press
DATA/SHIFT Accessibi
lity
Long press MODE/SET

MODE/SET UP DATA/SHIFT Clear
Any Accessibili Clear alarm Alarm
ty record
confirmatio
interface clear
Flash n
2s
7.4 Software Reset (Fn002)
7.4.1 Summary
The function of resetting the servo unit is from the inside by software. Used to re-power on or reset the alarm after
changing the parameter setting. It is also possible to validate the setting without turning the power back on.
！
Cautions
1. This function must be started with servo off.
2. This function has nothing to do with the upper device to reset the servo unit. Same as when the power
is turned on, the servo unit outputs the ALM signal, and other output signals may also be forcibly
changed.

7 Accessibility

Long press
lity
Long press MODE/SET

MODE/SET UP DATA/SHIFT
Any Accessibi Software Enter Reset
interface lity reset reset confirmation
7.5 Restoring Factory Parameters (Fn003)
7.5.1 Overview
The parameter is restored to the function used at the factory setting.
！
Cautions
1. Initialization of the parameter setting value must be performed in the
servo OFF state. It cannot be executed while the servo is ON.
2. For the setting to take effect, the servo unit must be turned on again after the operation.
3. When this function is executed, the values adjusted with parameters Fn100, Fn101, Fn102,
Fn103, Fn104 will not be initialized.

Long press
lity
Long press MODE/SET

MODE/SET UP DATA/SHIFT Recovery
Any Accessibi Restore Enter
confirmatio
interface lity Factory recovery
Flash n
2s
7.6 JOG Operation (Fn005)
7.6.1 Profile
The JOG operation is a function that confirms the operation of the servo motor by speed control without
connecting a host device.
To perform JOG operation, the following confirmation must be made in advance:
 The motor is in the enabled state and the Jog operation is invalid during the operation.
 It is recommended that the load inertia is not more than 30 times the motor inertia; otherwise it may cause
large mechanical vibration;
 Parameter Pn500, Pn310, Pn311 set the Jog speed, acceleration and deceleration time;default
Jog speed is 500rpm

7 Accessibility

code name address
Jog
Pn500 0~1000 500 rpm 0x0500 Immediately
speed
Speed
command
0~1000
trapezoidal 0 ms 0x0310 Immediately
0
acceleration
Pn310 time
Acceleration of the set speed from 0r/min to the rated speed (corresponding to the motor model).
When the given speed is greater or less than the rated speed, the actual acceleration time is
Speed
command
0~1000
trapezoidal 0 ms 0x0311 Immediately
0
deceleration
Pn311 time
Acceleration time of the set speed from 0r/min to the rated speed (corresponding to the motor
model). When the given speed is greater or less than the rated speed, the actual acceleration time is
！
Cautions
The overtravel prevention function is invalid during JOG
operation. When running, the operating range of the machine
used must be considered.

UP: Forward
Long press DOWN:
MODE/SET UP DATA/SHIFT MODE/SET
Any Accessibili JOG JOG enable Reverse
interface ty
JOG preparation ON
Long press
DATA/SHIFT MODE/SET
JOG JOG
JOG operation operation
Long press
DATA/SHIFT
7.7 Program JOG Operation (Fn006)
7.7. Profile
Program JOG operation is a function that continuously runs with the previously set operation mode, movement
distance, movement speed, acceleration/deceleration time, waiting time, and number of movements. This function is the
same as JOG operation (Fn005). When the setting is not connected to the host device, the operation of the servo
motor can be confirmed and a simple positioning operation can be performed.
！
Cautions
1. Program JOG operation is position control, gear ratio and position command filtering
are valid, but pulse instructions cannot be input to the servo unit.
2. The overtravel prevention function takes effect.

7 Accessibility

In the
Long press setting
MODE/SET UP MODE/SET
Any Accessibi Program DATA/SHIFT
Program JOG direction
UP/DOWN
interface preparation Enabled ON
lity JOG
End of
operation
Long press
DATA/SHIFT MODE/SET
Program JOG working
JOG preparation
process
Long press
DATA/SHIFT
7.8 Automatic Adjustment of Instruction Offset (Fn100)
7.8.1 Profile
The automatic adjustment command offset is a method of automatically adjusting the command voltage after
measuring the offset amount.
The measured offset will be stored in the servo unit.
！
Cautions
1, the servo is OFF
2. Offset adjustment overrange or input voltage instruction during offset adjustment may
fail to adjust

Turn off the servo drive and input the 0V command voltage from the host device or external circuit.
Long press
lity
Long press MODE/SET

MODE/SET UP DATA/SHIFT
Automatic Enter
Any Accessibi Adjustment
offset automatic
interface lity confirmation
adjustment adjustment Flash
2s
7.9 Speed command Offset Manual Adjustment (Fn101)
7.9.1 Profile
Directly input the instruction offset to adjust.
Manual adjustments are used for the following occasions:

7 Accessibility
 The host device has built a position loop and sets the position deviation when the servo lock stops to zero.
 When you need to set an offset
 When confirming the offset amount set by automatic adjustment
7.9.2 Operating
Long press
Accessibi DATA/SHIFT
Adjust the
lity interface
position
Long press
MODE/SET UP DATA/SHIFT Short press
Manual Long press
Any Accessibi Into offset DATA/SHIFT
Adjust the DATA/SHIFT
offset
interface lity adjustment manual interface
adjustment low UP/DOWN
MODE/SET
Adjustment
Adjust the
confirmati
interface
on
7.10 Profile Torque command Offset Manual Adjustment (Fn102)
7.10.1 Summary
It is a method of directly inputting the torque command offset.
Manual adjustments are used for the following occasions:
 When you need to set an offset
 When confirming the offset amount set by automatic adjustment

Long press
lity
Long press
MODE/SET UP DATA/SHIFT Short press
Any Accessibi Accessib Into offset DATA/SHIFT
UP/DOWN
interface lity ility Adjust the
manual
interface
adjustment
MODE/SET
Adjustment
Adjust the
confirmati
interface
on
7.11 Current Offset Automatic Adjustment (Fn103)
7.11.1 Profile
This function is only used when it is necessary to further reduce the torque ripple and other adjustments that need
to be performed with higher precision, and usually does not require adjustment.

7 Accessibility
！
Cautions
1. The automatic adjustment of the motor current detection
signal offset must be performed with the servo off.
2. When the generated torque ripple is significantly larger than other servo
units, perform automatic adjustment of the offset.

Long press
lity
Long press MODE/SET

MODE/SET UP Current DATA/SHIFT
Into offset
Any Accessibi bias Adjustment
automatic
interface lity automatic confirmation
adjustment Flash
adjustment
2s
7.12 Current Offset Manual Adjustment (Fn104)
7.12.1 Profile
This function is used only when the torque ripple is still large after the motor current detection signal offset auto
tuning (Fn103) is executed.
！
When performing manual adjustments, if this function is accidentally performed, the characteristics may be
degraded. When making manual adjustments, observe the following precautions.
• Make the servo motor speed about 100min-1.
• Observe the torque command in the analog monitor state and adjust the pulsation to the minimum.
Cautions • The U-phase current and V-phase current offset of the servo motor must be adjusted in a balanced manner.
Please repeat the adjustment several times.
Long press Long press

DATA/SHIFT DATA/SHIFT
Long press
MODE/SET UP
Manually DATA/SHIFT U-phase MODE/SET
Accessibi V-phase
Any offset
zero manual
offset manual
interface lity adjustment
current adjustment
Short press Short press

DATA/SHIFT DATA/SHIFT
U phase Phase V
adjustment adjustment

7 Accessibility
7.13 Initializing the Detection Value of Vibration Detection (Fn105)
7.13.1 Profile
The vibration detection function can detect the vibration in the feedback speed of the servo motor. This function is
used to detect the "vibration warning (Er. 520)" and "vibration warning (AL. 911)" that is more accurately after detecting
the machine vibration in the running state.”, and the function also could be used to automatically set the vibration detection
value (Pn187).
Related parameters:

code name address
Vibration detection options 0x00~0x02 0 － 0x0185 Immediately
This function can automatically detect the value related alarms or warnings in order to detect the
machine vibration under normal operating conditions.
The perform way after setting the vibration detection:
Pn185 0-No vibration detected
1-warning after vibration is detected
2-Alarming after vibration is detected
Vibration detection
50~500 100 % 0x0186 Immediately
sensitivity
Set the sensitivity of the detected vibration. The smaller the setting value is, the more sensitive it is. If
Pn186
the setting is too small, the vibration may be detected by mistake during normal operation.
Note: The detection sensitivity of the vibration alarm and vibration alarm may differ depending on the
state of the machine being used.
Vibration detection value 0~5000 50 rpm 0x0187 Immediately
Set the threshold for vibration detection. The smaller the setting is, the easier it is to detect the
Pn187 vibration. If the setting is too small, the vibration may be detected by mistake during normal operation.
Note: The vibration detection values of vibration alarm and vibration warnings may differ according to
the condition of the used machine.
！
• W hen the servo g ain is set inc orrec tly, it m ay b e d iffic ult to d etec t the vib ration. And it
m ay not b e p ossib le to d etec t all the vib rations that have oc c urred .
• When you set the improper moment of inertia ratio (Pn100), vibration alarms and vibration alarms may be
detected by mistake or not detected.
Cautions • This operation is performed when the motor is operated with actually used instructions.
• When performing this action, make sure that the motor runs at a maximum speed of 10% or more.

Accessibi
Long press
lity DATA/SHIFT
Long press
DATA/SHIFT
Long press MODE/SET

MODE/SET UP Vibration DATA/SHIFT Initializat
Initializat
Any Accessibi detection
ion
ion
interface lity initializat
preparation
ion
Flas
h2s
MODE/SET
Initialization
confirmation

7 Accessibility
7.14 Bandwidth Settings (Fn303)
7.14.1 Summary
For detailed description of this function, see "6.5 Bandwidth Settings."
7.14.2 OperatingProcedure
Long press
DATA/SHIFT
Mode
UP/DOWN selection
Long press Short press

MODE/SET UP DATA/SHIFT DATA/SHIFT
Any Accessibi Bandwidth Tuning Gain
interface lity setting mode adjustment
UP/DOWN
MODE/SET
Gain Gain
confirmation
Flash setting
2S
7.15 EasyFFT (Fn401)
7.15.1 Profile
EasyFFT transfers the periodic waveform commands from the servo unit to the servo motor, causing the servo motor
to rotate a few times for a certain period of time, causing the machine to vibrate. The servo unit detects the resonance
frequency based on the vibration generated by the machine, and then sets the corresponding notch filter according to the
resonance frequency. The notch filter effectively removes high-frequency vibrations and noise. If vibration occurs due to
a loud sound (abnormal sound) during operation, perform this function after the servo is turned off.
！
1. It must be used in the low gain state such as the initial stage of servo adjustment. If you perform the
EasyFFT function after setting a high gain, accept due to mechanical characteristics and gain balance, the
machine may vibrate.
2. The detected resonance frequency can be automatically set to the notch filter 1/2. If 1 has been set, it will be
Cautions automatically set to 2. If 1/2 is set, the notch filter cannot be set by this operation.
3. When changing the amplitude setting value, gradually increase the amplitude value and change it while
observing the situation.

7 Accessibility
MODE/SET Amplitude Long press

Long press DATA/SHIFT
setting UP/DOWN
DATA/SHIFT
Long press Long press

MODE/SET UP DATA/SHIFT DATA/SHIFT
Any Accessibi Amplitude Ready state
EasyFFT
interface lity setting
Flash
2S MODE/SET
MODE/SET UP/DOWN
Confirmation Checkout Checkout Operatin
of results
result Flash process g status
2S
7.16 Online Vibration Monitoring (Fn402)
7.16.1 Overview
When the servo is ON and vibration occurs during operation, this operation can set the notch filter 1 or the torque
command filter according to the vibration frequency, sometimes eliminating the vibration. The vibration frequency of the
noise generated by the mechanical resonance or the like is detected, and the frequency of the large-peak vibration is
displayed on the manipulator. For this frequency, an effective torque command filter or notch filter 1 frequency is
automatically selected and related parameters are automatically set.
When using the upper computer debugging software to adjust, it is recommended to perform the smart setting or
bandwidth setting. Generally, no manual operation is required. Only if the upper level debugging software is not used, it
is key-assisted.
Long press Monitoring

Long press
DATA/SHIFT failed
DATA/SHIFT
MODE/SET UP
Long press
DATA/SHIFT
MODE/SET V phase
Accessibi Vibration Monitoring offset
Any interface
lity monitoring preparation manual
adjustment
Long press
DATA/SHIFT MODE/SET
Monitoring
confirm results

Function Code Instructions
8 Function Code Instructions
8.1 The principle of origin return function
The zero position is the zero value of the servo driver during operation.
The origin return process is to find the origin position of the motor on the machine according to the set origin return method.
After finding the origin position, it runs to the zero position according to the set zero offset pulse, and uses the zero
position as the starting position value for subsequent motor operation.
According to the above origin definition, the origin signal source can be given in three ways: limit signal, DI input signal
and Z pulse. The mechanical origin signal can generally be expressed by a level signal with a certain pulse width. A high
level indicates that the signal is valid, and a low level indicates that the signal is invalid. In order to accurately locate the
origin signal, when selecting the origin signal source, you need to select the positive or negative rising edge of the origin
signal source as the origin signal, as shown in the figure 1 below:
Positive
direction
Positoiv Negative
rising edgee rising edge
Origin
signal
valid
invalid invalid
Figure 1 Origin signal source and signal edge selection diagram
During the origin return process, it is necessary to meet the origin signal multiple times to determine the correct origin.
When starting the origin return, given a relatively large speed value for the origin return to ensure the speed of finding the
origin, the origin signal encountered for the first time is defined as the deceleration point. After encountering the
deceleration point, the origin return speed is reversed to low speed to ensure the accuracy of finding the origin. After
encountering the origin signal again at low speed, it means that the origin is found. In the actual process of finding the
origin, the accuracy of the origin position is affected by the speed of finding the origin at low speed. The greater the speed
of finding the origin at low speed, the greater the pulse deviation along the origin signal. In order to determine the origin
signal more accurately, the Z signal of the encoder can be used as the origin signal, and the Z pulse that is near the origin
signal for the second time is defined as the origin signal, so that the origin position is accurate and without deviation.
According to the origin signal source, origin signal edge, origin return direction, deceleration point type, Z pulse direction,
whether or not Z pulse is used, and encountering the limit, the origin return method can be classified, as shown in the
following table 1:
Table 1 Classification from 1 to 34 origin regression methods

Note: the above. 1 to 34 is Species OPR embodiment according CAN open protocol CIA402 OPR to define standard
definition mode, and CAN open protocol given OPR consistent manner.

8.1.1 Origin return trigger

The origin return trigger can automatically perform origin return via SI terminal trigger, point trigger, communication trigger
and power-on.
8.1.2 Origin return SI terminal trigger

By configuring the universal SI terminal as the origin trigger function HomeTrig, the origin return is triggered. The rising
edge of HomeTrig triggers home return. The input function definition of SI terminal related to home return is shown in
Table 2.1 below:
SI Terminal Name SI Terminal Function Code Function Description
HomeTrig 0x1C Origin return trigger function (valid on rising edge)
HomeReach 0x1D External input origin signal (valid at high level)
Select the SI terminal as the origin trigger signal by configuring the general SI terminal function as 0x1C. When the rising
edge of this SI terminal is valid, the origin return is triggered.
Table 2.1 SI terminal input function definition
8.1.3 Return to origin automatically trigger when power on

The home position return function can be configured to automatically find the home position after the servo drive is
powered on for the first time by configuring the function code Pn800. The function definition of function code Pn800 is
shown in the figure below:
As shown in the figure above, section C of Pn800 is defined as automatic trigger after homing is enabled. When the C
segment is set to 1, when the servo is enabled for the first time, the home position return is automatically performed.
The A and B sections of Pn800 are defined as the point number for automatic operation after the origin return is completed.
8.1.4 Trigger home return by point function

The home position return function can be triggered by the point function. The definitions of SI terminals related to point
functions are shown in Table 2.3 below:
SI Terminal Name SI Terminal Function Code Function Description
PosTrig 0x16 Point trigger function (valid on rising edge)
Point segment number selection Bit0 (valid at
PosBit0 0x17
high level)
PosBit1 0x18
high level)
PosBit2 0x19
high level)
PosBit3 0x1A
high level)


PosBit4 0x1B
high level)
Table 2.3 SI terminal point function definition
As shown in the above table, the point function is triggered by the external terminal. If the point segment number selection
value is 0 when triggering, the origin return operation will be triggered. That is, when the rising edge of the PosTrig signal
is valid, if the point segment number selection combination value is 0 (PosBit0 to PosBit4 are all 0), the origin return
operation is triggered.
8.1.5 Communication triggers home return

In addition to triggering the home return operation with the SI terminal, the home return can also be triggered by
communication. Through serial communication, USB communication, keyboard operation, etc., in the case of writing 0 to
the function code Pn898, an origin return operation is triggered. Pn898 displays 10000 during the origin return process,
and Pn898 displays 20000 after the origin return is completed.
Note: The origin return trigger is valid only when the servo drive is enabled. If the servo is not enabled, the home position
return is invalid.
8.2 Origin return function code
Pn899 Origin return method selection ○ Address:0x899

Factory default:1 Setting range:1～34 unit:N/A Control mode:P
Parameter description: Origin return mode, any integer value between 1 and 34 can be set
Pn89A Home return high speed setting ○ Address:0x89A
Factory default:100 Setting range:0～2000 unit:rpm Control mode:P
Parameter description: During the origin return process, set the high-speed origin search speed value.
Pn89B Origin return low speed given ○ Address:0x89B
Factory default:10 Setting range:0～1000 unit:rpm Control mode:P
Parameter description: After the high-speed encounters the origin signal, the origin signal is searched at the low speed
in the reverse direction.
Origin return acceleration and deceleration time
Pn89C ○ Address:0x89C
given
Factory default:200 Setting range:10～1000 unit:ms Control mode:P
Parameter description: The acceleration and deceleration time is given during the homing process. The
acceleration/deceleration time is the time from 0rpm to the rated speed as the acceleration/deceleration time of the
homing.
Pn800 Return to origin control word ○ Address:0x800

Factory default:0 Setting range:0～0x0000FFFF unit:N/A Control mode:P
Parameter description: Pn800 function definition is shown in Figure 3 below

Pn802 Zero offset pulse value ○ Address:0x802

unit：
Setting range:- 2147483648～
Factory default:0 commanduni Control mode:P
2147483648
t
Parameter description: The pulse offset value that needs to be run after the origin signal is found during the origin return
process.
8.3 Origin return method
Origin return method 1

a. Start zero return → reverse high-speed search for negative limit → encounter the rising edge of negative limit →
decelerate to 0 → positive low speed finds negative limit falling edge → positive search for Z pulse
Origin return method 1-a
b. Start home return→negative limit valid→positive low speed find negative limit falling edge→positive Z pulse

Origin return method 1-b

Zero return method 2
a. Start zero return → positive high-speed positive limit → encounter the positive limit rising edge → decelerate to 0
→ reverse low speed positive limit falling edge → reverse Z pulse
Origin return method 2-a
b. Start home return→positive limit valid→reverse low speed positive limit falling edge→reverse search Z pulse
Origin return method 2-b

Zero return method 3

a. Start zero return→origin signal is OFF→forward high-speed home search signal rising edge→decelerate to
0→reverse low-speed home search signal falling edge→reverse search Z pulse
Zero return method3-a
b. Start zero return→Origin signal ON→Reverse low speed home search falling edge→Reverse search Z pulse
Zero return method3-b

Zero return method4
a. Start home return→origin signal OFF→forward high-speed home search rising edge→decelerate to 0→negotiate
low-speed home search falling edge→decelerate to 0→forward low-speed home search rising edge→forward Z pulse
search

b. Start home return→origin signal ON→reverse low-speed home search, falling edge→decelerate to 0→forward low-
speed home search, rising edge→positive Z pulse search

Zero return method5

a. Start zero return→origin signal OFF→reverse high-speed home search rising edge→decelerate to 0→forward low-
speed home search, falling edge→positive Z pulse search
b. Start zero return→origin signal ON→forward low-speed home search, falling edge→positive Z pulse search

Zero return method6

a. Start home return→origin signal OFF→reverse high-speed home search rising edge→decelerate to 0→forward low-
speed home search falling edge→reverse low-speed home search rising edge→reverse search for Z pulse
b. Start home return→origin signal ON→forward low-speed home search, falling edge→reverse low-speed home search,
rising edge→reverse search Z pulse
Zero return method7

a. Start zero return→origin signal OFF→forward high-speed home search rising edge→decelerate to 0→reverse low-
speed home search falling edge→reverse search Z pulse

b. Start zero return→Origin signal ON→Reverse low speed home search falling edge→Reverse search Z pulse
c. Start zero return→origin OFF→forward high-speed home search rising edge→positive limit→reverse high-speed
home search falling edge→decelerate to 0→forward low-speed home search rising edge→reverse low-speed home
search down Find Z pulse along

Zero return method7-c

Zero return method8
a. Start home return→origin signal OFF→forward high-speed home search rising edge→decelerate to 0→reverse low-
speed home search falling edge→forward low-speed home search rising edge→forward Z pulse search
b. Start zero return→origin signal ON→reverse low-speed home search falling edge→forward low-speed home search
rising edge→forward search Z pulse

c. Start home return→origin OFF→forward high-speed home search rising edge→positive limit→reverse high-speed
home search falling edge→decelerate to 0→forward low-speed home search rising edge→positive Z pulse search

Zero return method9
a. Start zero return→origin signal OFF→forward high-speed home search, falling edge→decelerate to 0→reverse low-
speed home search, rising edge→reverse search for Z pulse

b. Start zero return→origin signal ON→forward high-speed home search, falling edge→decelerate to 0→reverse low-
speed home search, rising edge→reverse search for Z pulse

c. Start home return→origin OFF→forward high-speed home search falling edge→positive limit→reverse high-speed
home search rising edge→decelerate to 0→forward low-speed home search falling edge→reverse low-speed home
search rising edge → Find Z pulse in reverse direction


Zero return method10
a. Start home return→origin signal OFF→forward high-speed home search, falling edge→decelerate to 0→reverse low-
speed home search, rising edge→forward low-speed home search, falling edge→forward search Z pulse
b. Start home return→origin signal ON→forward high-speed home search, falling edge→decelerate to 0→reverse low-
speed home search, rising edge→forward low-speed home search, falling edge→forward search Z pulse

c. Start zero return→origin OFF→forward high-speed home search and falling edge→positive limit→reverse high-
speed home search rising edge→decelerate to 0→forward low-speed home search, falling edge→forward Z pulse
search

a. Origin return to start → origin signal OFF → reverse high-speed home search rising edge → decelerate to 0 →
positive low speed home search falling edge →forward Z pulse search

b. The start of zero return → origin signal ON → forward low-speed origin search falling edge → forward Z pulse search
c.origin return to zero start→origin signal OFF→Reverse high speed find origin rising edge→negative limit→Forward
high speed finds origin signal falling edge→decelerate to 0→Reverse low speed find origin rising edge→Forward find Z
pulse


a. origin return start→origin signal OFF→Reverse high speed find origin rising edge→decelerate to 0→Forward low
speed find origin falling edge→Reverse low speed find origin rising edge→Reverse find Z pulse

b. Origin return start→origin signal ON→Forward low speed find origin falling edge→Reverse low speed find origin rising
edge→Reverse find Z pulse

c.origin return start→origin signal OFF→reverse high speed find origin rising edge→negative limit→Forward high speed
finds origin signal falling edge→decelerate to 0→reverse low speed find origin rising edge→reverse find Z pulse

a. origin returns to zero start→origin signal OFF→reverse high speed find origin falling edge→decelerate to 0→forward
low speed find origin rising edge→forward find Z pulse

b. origin returns to zero start→origin signal ON→reverse high speed find origin falling edge→decelerate to 0→forward
low speed find origin rising edge→forward find Z pulse

c.origin return start→origin signal OFF→Reverse high speed finds origin signal falling edge→negative limit→Forward
high speed find origin signal rising edge→decelerate to 0→Reverse low speed find origin signal falling edge→Forward
low speed find origin signal rising edge →Forward find Z pulse


a. origin return start→origin signal OFF→reverse high speed find origin falling edge→decelerate to 0→forward low
speed find origin rising edge→reverse low speed find origin falling edge→reverse find Z pulse

b. origin return start→origin signal ON→Reverse high speed find origin falling edge→decelerate to 0→Forward low
speed find origin rising edge→Reverse low speed find origin falling edge→Reverse find Z pulse

c.origin return to zero start→origin signal OFF→reverse high speed find origin falling edge→negative limit→Forward
high speed finds origin signal rising edge→decelerate to 0→reverse low speed find origin signal falling edge→reverse
find Z pulse

Zero return method15：
After triggering this zero return method, the servo will take the current position as the zero point and clear the servo
absolute position (equivalent to the 35th origin return method specified in CIA402).
Zero return method16：Reserved.
a. Start origin return→Reverse high-speed search for negative limit→touch the rising edge of negative limit→decelerate
to 0→Forward low speed search for negative limit and stop after falling edge

a. Start origin return→negative limit valid→Forward low speed finds negative limit and stops after falling edge

a. Start origin return→Forward high-speed positive limit position→ meet the rising edge of positive limit→decelerate to
0→Reverse low-speed positive limit position and stop after falling edge

b. Start origin return→Positive limit valid→Reverse low speed positive limit and stop after falling edge

a. Start origin return→Forward find origin at high speed→reach the rising edge of origin→decelerate to 0→reverse find
origin at low speed and stop after falling edge
b. Start origin return→origin effective→Reverse finds origin at low speed and then stops after falling edge


a. Start origin return→origin signal OFF→Forward high speed find origin rising edge→decelerate to 0→Reverse low
speed find origin falling edge→Forward low speed find origin rising edge and then stop
b. Start origin return→origin signal ON→Reverse low speed find origin falling edge→Forward low speed find origin rising
edge and then stop


a. Start origin return→origin signal OFF→Reverse high speed find origin rising edge→decelerate to 0→Forward low
speed find origin falling edge and then stop
b. Start origin return→origin signal ON→Forward low-speed search for origin falling edge and then stop


a. Start origin return→origin signal OFF→Reverse high speed find origin rising edge→decelerate to 0→Forward low
speed find origin falling edge→Reverse low speed find origin rising edge and then stop


a. Start origin return→origin signal OFF→Forward high speed find origin rising edge→decelerate to 0→reverse low

b. Start origin return→origin signal ON→Reverse finds origin at low speed and stops after falling edge
c. Start origin return→originOFF→Forward high speed find origin rising edge→touch positive limit→Reverse high speed
find origin falling edge→decelerate to 0→Forward low speed find origin rising edge→Reverse low speed find origin
rising edge and stop after falling edge

a. Start origin return→origin signal OFF→Forward high speed find origin rising edge→decelerate to 0→Reverse low
speed find origin falling edge→Forward low speed find origin rising edge and then stop

b. Start origin return→origin signal ON→Reverse low speed find origin falling edge→Forward low speed find origin rising
edge and then stop

c. Start origin return→originOFF→Forward high speed find origin rising edge→touch positive limit→Reverse high speed
find origin falling edge→decelerate to 0→Forward low speed find origin rising edge and then stop

a. Start origin return→origin signal OFF→Forward high speed find origin falling edge→decelerate to 0→reverse low
speed find origin rising edge and then stop

b. Start origin return→origin signal ON→Forward high speed find origin falling edge→decelerate to 0→reverse low
c. Start origin return→originOFF→Forward high-speed find origin falling edge→ encounter positive limit→Reverse high-
speed find origin rising edge→decelerate to 0→Forward low speed find origin falling edge→Reverse low speed find
origin rising edge and then stop


a. Start origin return→origin signal OFF→Forward high speed find origin falling edge→decelerate to 0→Reverse low
speed find origin rising edge→Forward low speed find origin falling edge and then stop
b. Start origin return→origin signal ON→Forward high speed find origin falling edge→decelerate to 0→Reverse low
speed find origin rising edge→Forward low speed find origin falling edge and then stop

c. Start origin return→originOFF→Forward high speed find origin falling edge→touch positive limit→Reverse high
speed find origin rising edge→decelerate to 0→Forward low speed find origin falling edge and then stop

a. origin return start→origin signal OFF→reverse high speed find origin rising edge→decelerate to 0→forward low
Zero return method 27-a

b. Origin return to start→origin signal ON→Forward low speed finds origin and stops after falling edge
Zero return method 27-b
c. Origin return start→origin signal OFF→Reverse high speed find origin rising edge→negative limit→Forward high
speed finds origin signal falling edge→decelerate to 0→Reverse low speed find origin rising edge and then stop

a. origin return start→origin signal OFF→Reverse high speed find origin rising edge→decelerate to 0→Forward low
speed find origin falling edge→Reverse low speed find origin rising edge and then stop

b. Origin return start→origin signal ON→Forward low speed find origin falling edge→Reverse low speed find origin rising
edge and then stop
a. origin return start→origin signal OFF→reverse high speed find origin rising edge→negative limit→Forward high

speed finds origin signal falling edge→decelerate to 0→reverse low speed find origin rising edge and then stop
Zero return method29（6098 00h =29）

speed find origin rising edge and stop
b. Origin return to start→origin signal ON→Reverse high speed find origin falling edge→decelerate to 0→Forward low

a. origin return start→origin signal OFF→Reverse high speed finds origin signal falling edge→negative limit→Forward
high speed find origin signal rising edge→decelerate to 0→Reverse low speed find origin signal falling edge→Forward
low speed find origin signal rising edge

speed find origin rising edge→reverse low speed find origin falling edge and then stop
b. Origin return start→origin signal ON→Reverse high speed find origin falling edge→decelerate to 0→Forward low
speed find origin rising edge→Reverse low speed find origin falling edge and then stop
c.origin return start→origin signal OFF→Reverse high speed find origin signal falling edge→negative limit→Forward
high speed find origin signal rising edge→decelerate to 0→Reverse low speed find origin signal falling edge and then
stop

Zero return method31（6098 00h =31）：Reserved.

Zero return method32（6098 00h =32）：Reserved.
Origin return to zero → find the first Z pulse in the negative direction

Origin returns to zero → Forward finds the first Z pulse

9 Internal location
9 Internal location
9.1 Internal multi-stage position control function code parameter setting
Pn000 Control mode selection ○ Address:0x000

Factory default:0 Setting range:0x0000～0x000B unit：N/A Control mode:P、S、T
Parameter description: Control mode selection. The internal multi-stage position control function is the internal position
mode, and the position command is given by the parameter. Before running the internal multi-stage position control
function, you first need to set the servo drive control mode to the position mode.
Pn000 function
0 Position control mode
Not 0 not 16 Other control mode
16 EtherCAT mode
Pn208 Position command source selection ○ Address:0x208

Factory default:0 Setting range:0x0000～0x0001 unit：N/A Control mode:P
Parameter description: internal and external position command selection. Internal multi-stage position control function is
the internal position mode, so before selecting the internal multi-stage position control mode, you need to set the position
command source to the internal position mode.
Pn208 function
0 Position command source selection external pulse input
Position command source selection internal position command
1
input
Pn204 Electronic gear ratio numerator ○ Address:0x204

9 Internal location
Factory default:0 Setting range:1～1073741824 unit：N/A Control mode:P

Parameter description: electronic gear ratio numerator. Together with the electronic gear ratio denominator, the electronic
gear ratio of the servo drive is given.
Pn206 Electronic gear ratio denominator ○ Address:0x206
Parameter description: electronic gear ratio denominator. The electronic gear ratio of the servo drive is given
together with the numerator of the electronic gear ratio.
Note: The internal multi-stage position control mode is the internal position mode. When setting the electronic gear
ratio, the electronic gear ratio cannot be set arbitrarily, otherwise it will cause data overflow and make operation errors.
When selecting the internal position mode, you need to set the internal position mode. After the electronic gear ratio is
set, it is necessary to ensure that the maximum number of command pulses per revolution is less than 2^20 (20-bit
encoder).
9.2 Internal multi-stage position control related function codes
Internal multi-stage position control function, according to the position command, positioning speed, acceleration
time, deceleration time, delay time, Pr command type, absolute/incremental/relative position, interrupt function, overlap
function, storage function to plan the position track. In addition, Position command trigger can be set by function code
and DI terminal.
9.2.1 Position command trigger, select, stop

Position command triggering, selection, and stop can be realized in two ways. The first method uses an external
numerical input terminal (DI terminal) to select, trigger, and stop the position command segment number. The second
method uses a specific function code for position command Trigger, select, stop.
Position command triggering, selection, and stop can be realized through DI terminal. Position command triggering
is realized by configuring POS0-POS4 function of DI terminal. SD700 allows planning 31 internal position commands.
According to the combination of POS0-POS3, select the position segment to be operated. If the position segment number
is selected as NUM, the corresponding relationship between POS0-POS4 and the position command segment number
is:
POS4 POS3 POS2 POS1 POS0 Position segment number
0 0 0 0 0 0
0 0 0 0 1 1
0 0 0 1 0 2
0 0 0 1 1 3
0 0 1 0 0 4
0 0 1 0 1 5
0 0 1 1 0 6
0 0 1 1 1 7
0 1 0 0 0 8
0 1 0 0 1 9
0 1 0 1 0 10
0 1 0 1 1 11
0 1 1 0 0 12
0 1 1 0 1 13
0 1 1 1 0 14
0 1 1 1 1 15
1 0 0 0 0 16
1 0 0 0 1 17
1 0 0 1 0 18
1 0 0 1 1 19

9 Internal location
1 0 1 0 0 20
1 0 1 0 1 21
1 0 1 1 0 22
1 0 1 1 1 23
1 1 0 0 0 24
1 1 0 0 1 25
1 1 0 1 0 26
1 1 0 1 1 27
1 1 1 0 0 28
1 1 1 0 1 29
1 1 1 1 0 30
1 1 1 1 1 31
0 0 0 0 0
Position command triggering is achieved through the PosTrig function of the DI terminal. First select the internal
position command segment number to be run through DI terminals POS0-POS3, and then use PosTrig to trigger the
selected position command segment to run. The rising edge of the PosTrig signal indicates that the currently selected
Position command segment operation.
Note: Trigger the point with the segment number 0 for origin return operation; the points other than 0 are normal
points.
During the execution of the Pr internal position command, if you want the Pr internal position command currently
being executed to stop immediately, you can stop the operation through the PosStop function of the DI terminal. Use the
rising edge of PosStop to stop the currently running position command segment immediately.
The DI terminal function definitions of POS0-POS3 position command selection, PosStop position command stop,
and PosTrig position command trigger are as follows:
Position DI function DI function Code number
PosTrig 0x16
POS0 0x17
POS1 0x18
POS2 0x19
POS3 0x1A
PosStop 0x20
The position command trigger, select, and stop processing can be realized through the external DI terminal, or
through the assignment of specific function codes.
When there are many position commands in the Pr, many DI input terminals are required for functions such as
Prposition command segment selection, position command triggering, and position command stop via DI terminals. For
convenience, add functions to the Internal multi-stage position control program Code mode for position command
selection, triggering and stopping operations.
The Pr internal position command sets the function code to Pn898. According to the input value of Pn898, judge the
Pr command operation that needs to be performed. The Prposition command selection, trigger and stop corresponding
to the value of Pn898 are shown in the following table:
Pr898 Value Pr command function
Given the Pr instruction segment number, trigger the
0～31 execution of the Prposition instruction
Relative to Trig + PosNum
1000 Pr instruction to stop. Equivalent to given STOP bit
other invalid
In addition to triggering the Pr instruction segment, Pn898 can also display the segment number of the current Pr
instruction execution and whether the execution is complete. When reading Pn898, if the current Pn898 displays
10000+PosNum, it means that the current Pr instruction segment number is the Pr instruction of PosNum. Execute. If
Pn898 displays 20000+PosNum, it means that the position command with the current Pr command segment number of
PosNum has been executed, and the next Pr command can be received. The Pn898 function code definition is shown in
the following table:
Communication given Pr command segment
Pn898 ○ Address:0x898
number
Factory default:10000 Setting range:0x0000～0xFFFF unit：N/A Control mode:P
Parameter description: Communication setting Prposition command segment number. By setting Pn898, the desired
Pr command segment can be given by communication or keyboard. If the servo is enabled, when the Pr internal position

9 Internal location
command mode is selected, set the value of Pn898 to Between 0 and 15, the corresponding Prposition instruction
segment will be executed. During the execution of the Pr internal position instruction, the value of P9.30 can be read to
determine whether the currently executing position instruction segment and the current position instruction segment are
executed.
If Pn898 is displayed in the format of 10000+PosNum, it means that the instruction segment with the current Pr
instruction segment number PosNum is being executed.
If Pn898 is displayed in the format of 2000+PosNum, it means that the current Pr instruction segment number of
PosNum has been executed, and the next Prposition instruction segment can be accepted.
Note: When the servo is enabled, Pn898 will execute the point after setting the point number; when the servo is
disabled, Pn898 will always display 20000 and will not perform the point operation. When Pn898=1000, it can be stopped
by communication Pr instruction segment operation.
9.2.2 Position command control parameter configuration

A position command can be divided into two parts: position command control word and position command pulse
number. Each position command segment is composed of the above two basic components. There are 31 position
command segments defined in SD700.
Assuming the position command segment number is POSNUM, the control word of the current position command
segment is given by the function code Pn804 +POSNUM*4; the current position command pulse number is given by the
function code Pn806+ POSNUM*4. And so on, from the function code Pn804 A total of 15 position command segments
are defined to Pn87E.

9 Internal location
9.2.3 Definition of position command segment control word

The control word of the position command section is given by Pn804. The low 16 bits define the internal multi-stage
position control operation mode, and the high 16 bits define the point operation parameter selection.
Pn804 Internal multi-segment position1 control word ○ Address:0x804
Factory Setting range:0x00000000～

unit：N/A Control mode:P
default:0x00000000 0xFFFFFFFF
Parameter description: The low 16 bits of the internal position command control word are the internal position
command trajectory planning control word. The internal position command control word can be used to plan
interruption, overlap, relative/absolute, single-stage/multi-stage/speed through the low 16-bits of the internal position
command control word /Jump and other functions. The high 16 bits define the speed, acceleration, deceleration, and
delay time of the Preposition instruction. The function code from P9.00 to P9.27 defines the acceleration and
deceleration time and positioning during the operation of the Preposition instruction Speed and delay time.
Function definition of part A of function code:

Part A function
0 Single position mode
1 Multi-stage position mode
2 Speed control mode
3 Jump mode
Single-segment, multi-segment description: single-segment position instruction means that after executing the current
position instruction, the next position instruction will not be executed. Multi-segment position instruction means that the
next position instruction will continue to be executed after the current position instruction is executed. If there are
several position instructions in a row in the case of multiple stages, multiple position commands will be executed

9 Internal location
continuously. Single/multiple position commands are executed as shown in the figure below:
Speed mode description: If the given current position command segment is speed mode, when the position
command is planned, the motor will run at the set speed until the next Pr position command starts to execute.
PosTrig
PosSpd
Speed mode diagram

Jump mode description: If the current position instruction segment jump mode, then immediately jump from the
current position instruction segment to the position instruction segment of the specified segment number, and execute
the position instruction of the specified segment.
Function definition of part B of function code:
Single/multiple position
Part B Speed mode Jump mode
mode
The current position Do not switch to the next
0 command value is an stage Pr after the current ——
absolute position value speed is executed
The current position Automatically execute the
1 command value is the next Pr after the current ——
incremental position value speed is executed

9 Internal location
The current position

2 command value is the —— ——
relative position value
Description of position instruction type of part B in single/multi-segment position mode:
① Absolute position command: the motor operating target position value is the given position command value.
TargetPos = PosAbs.
② Relative position command: the motor operating target position value is the current actual position value
plus the given relative position value
TargetPos = PosFdb + PosRel.
③ Incremental position command: the target position value of the motor operation is the previous position
command value plus the current incremental position command value.
TargetPos = PosCmd + PosInc.
Function description of part B in speed mode:
In speed mode, the B part of the control word indicates whether the next Pr command value is automatically executed
after the current speed command is reached. If the B part is 1, the next Pr command value is automatically
executed. The next Pr command can be single Segment and multi-segment position commands can also be
speed commands or jump commands. If part B is 0, the motor will run at the speed given by the current Pr until
the next Pr command starts to execute.
Function definition of part C of function code:
Part C Position mode Speed mode Jump mode
Interrupt function is not Interrupt function is not Interrupt function is not

0
enabled enabled enabled
1 Interrupt function enable Interrupt function enable Interrupt function enable
Interrupt description: When the interrupt function is enabled, regardless of whether the current position command
is completed or not, immediately switch to the next position command. The margin of the current position command will
be accumulated to the next position command for position command planning. If the function is interrupted Disabled,
only after the current position command is completed will it switch to the next position value execution.
The interrupt function is shown below:
Interrupt operation

9 Internal location
Uninterrupted operation
Note: The interrupt function is the setting of the Pr command in the latter stage to take effect, and the interrupt function
is judged when the latter command is triggered.
Function definition of part D of function code:
Part D Single/multiple position mode Speed mode Jump mode
Overlap function is not

0 Target speed unit rpm ——
turned on
1 Overlap function is on Target speed unit PPS ——
Position overlap description: After the overlap function is turned on, when multiple position commands are executed,
when each position command is executed to the deceleration stage, it will not decelerate to 0, and the next position
command will be directly planned from the current speed. If the overlap function is not turned on, the current position
command After the execution is completed, slow down to 0 and then plan the next position command. The overlap
function only works in multiple positions, and the single position does not work. At the same time, after the overlap
function is turned on, the delay time of multiple positions becomes 0.
The multi-stage position overlap function is shown in the following figure:
Note: The setting of the previous command is effective when overlapped, and the next command is overlapped
when the previous command reaches the deceleration point.
Note: In speed mode, this bit represents the speed command unit.
Speed unit description: The speed unit defines whether the speed value given in the current speed command
segment is the speed value of rpm (how many revolutions per minute) or the speed value of PPS (pulses per second).
Function definition of part E of function code:
Part E Single/multiple position mode function Speed mode Jump mode
Acceleration time selection Pn880 Acceleration time selection Pn880

0 invalid
defined time defined time
1 invalid
2 invalid

9 Internal location

3 invalid
4 invalid
5 invalid
6 invalid
7 invalid
Function definition of part F of function code:

Part F Single/multiple position mode function Speed mode Jump mode
Deceleration time selection Pn880 Deceleration time selection Pn880
0 invalid
1 invalid
2 invalid
3 invalid
4 invalid
5 invalid
6 invalid
7 invalid
Function definition of part G of function code:

Part G Single/multiple position mode function Speed mode Jump mode
Speed value selection Pn888 defined
0 invalid invalid
value
Speed value selection Pn889 defined
1 invalid invalid
value
Speed value selection Pn88A defined
2 invalid invalid
value
Speed value selection Pn88B defined
3 invalid invalid
value
Speed value selection Pn88C defined
4 invalid invalid
value
Speed value selection Pn89D defined
5 invalid invalid
value
Speed value selection Pn89E defined
6 invalid invalid
value
Speed value selection Pn89F defined
7 invalid invalid
value
Function definition of part H of function code:

Part H Single/multiple position mode function Speed mode Jump mode
Delay time selection Pn890 defined
0 Delay time selection Pn890 defined value invalid
value
value

9 Internal location

value
value
value
value
value
value
9.2.4 Position command segment pulse reference

Assuming that the position command segment number is NUM, in single/multi-segment position mode, the
number of position command pulses is given by function code Pn806+4*NUM. In speed mode, the given speed value is
given by Pn804+4*NUM.
Single/multi-segment position command pulse
Pn806 number ○ Address:0x806
Speed mode given speed value
Factory default:0 Setting range:-2^31～2^31 unit：r Control mode:P
Parameter description: In single/multi-segment position mode, position command pulse number is given. In speed mode,
operation target speed is given.
Note: Pay attention to the speed setting unit when setting the speed value in the speed mode, the speed unit is given by
the highest bit of Pn804
9.2.5 Common parameters of position command section

The speed, acceleration/deceleration time, and delay time of the Prposition command are shared parameters.
Each Prposition command segment can select one of 8 speeds, acceleration/deceleration time, and delay time as the
operating parameters of the current position command segment. Common parameters The definition is as follows:
Internal multi-segment position plus
Deceleration time selection 0
Parameter description: internal position command plus Deceleration time selection. From function code Pn900 to
function code Pn907, a total of 8 sets of internal multi-segment position acceleration and deceleration time are
defined. In actual use of internal multi-segment position command control, the word height can be controlled according
to the internal multi-segment position command for the 16-bit part E, select a parameter from Pn900 to Pn907 as the
acceleration time of the internal position command; according to the bit2 of the internal position multi-segment
command control word, select a parameter from Pn900 to Pn907 as the deceleration time of the internal multi-
segment position command.
Note: When several different position command segments select the same acceleration/deceleration time
function code, modify the acceleration/deceleration time value of the corresponding function code, and change the
acceleration/deceleration time of several position commands at the same time. The acceleration/deceleration time
setting value is accelerated from 0rpm The time required to reach the rated speed of the motor.
Factory default:200 Setting range:0～60000 unit：ms Control mode:P
same Pn880.
Internal multi-segment position plus Deceleration

time selection 2

9 Internal location
same Pn880.

same Pn880.

same Pn880.

same Pn880.

same Pn880.

same Pn880.
Internal multi-segment positionSpeed value

selection 0
Factory default:100 Setting range:0～6000 unit：rpm Control mode:P
Parameter description: Internal multi-segment position command speed selection. From function code Pn910 to
Pn917, a total of 8 sets of Internal multi-segment positionSpeed value selection are provided. When the actual internal
multi-segment position control is performed, according to the internal multi-segment position control word The value of
the upper 16 bits of the F part, select a set of parameters between Pn910 and Pn917 as the speed reference value for
the internal multi-segment position operation.
selection 1
same Pn888.
Pn88A ○ Address:0x88A
selection 2

9 Internal location
same Pn888.

Pn88B ○ Address:0x88B
selection 3
same Pn888.

Pn88C ○ Address:0x88C
selection 4
same Pn888.

Pn88D ○ Address:0x88D
selection 5
same Pn888.

Pn88E ○ Address:0x88E
selection 6
same Pn888.

Pn88F ○ Address:0x88F
selection 7
same Pn888.
Internal multi-segment positionDelay time

selection 0
Factory default:0 Setting range:0～6000 unit：0.1s Control mode:P
Parameter description: Internal multi-segment position command Delay time selection. From function code Pn890
to Pn897, a total of 8 sets of Internal multi-segment position Delay time selection are provided. When the actual internal
multi-segment position control is performed, it is controlled according to the internal multi-segment position For the
value of the D part of the lower 16 bits of the word, select a set of parameters between Pn890 and Pn897 as the interval
time between two position commands when the Internal multi-segment position is running (unit0.1s, the delay time
range is 0s～6000s ).
Note: For the position command, the delay time is the delay time after the position command pulse is sent. For the
speed mode, the delay time is the delay time after the speed value reaches the set target speed.

selection 1
same Pn890.

selection 2

9 Internal location
same Pn890.

selection 3
same Pn890.

selection 4
same Pn890.

selection 5
same Pn890.

selection 6
same Pn890.

selection 7
same Pn890.
9.3 Multi-speed function operating parameters
Multi-speed function Plan the corresponding position trajectory according to the set speed, acceleration and
deceleration time, delay time, and target position value. Take the operating parameters of the first position command
segment as an example.
9.3.1 Position command

In position mode, the position command pulse number of internal multi-level position control is given by Pn806 + POSNUM
* 4. The position command unit is a user unit. The number of pulses per revolution of position command is given by
electronic gear ratios Pn204 and Pn206.
In position mode, the target position value can be incremental position value, relative position value and absolute position
value.
Incremental position command is mainly used for the operation mode where the target position is clear and the target
position value has nothing to do with the actual position. The reference point of the incremental position is the position
command value. The incremental position operation mode is shown in the figure below:

9 Internal location
PosCmd0 PosCmd1
Pos0 PosRem0
As shown in the figure above, the first position command is set to PosCmd0. After running the pulse of Pos0, the
operation ends, and the pulse of the remaining PosRem0 is not completed. If the second incremental position
commandPosCmd1 is inserted at this time, the second position command The total number of running pulses is
PosCmd1+ PosRem0. That is, the second incremental position value PosCmd1 is based on the first position
commandPosCmd0 as the reference point, and the final operating position value is PosCmd0+ PosCmd1.
The relative position command uses the actual position value as the reference point. The position command value
in the next paragraph uses the actual position value at runtime to calculate the target position value. The relative
position operation mode is shown in the following figure:
PosCmd0
Pos0 PosRem0
PosCmd1
As shown in the figure above, the first position command is set to PosCmd0. After running the pulse of Pos0, the
operation ends, and the pulse of the remaining PosRem0 is not completed. If the second position command is inserted
at this time, the relative position commandPosCmd1 is inserted. The total number of pulses run by the command is
PosCmd1. That is, the relative position value of the second segment PosCmd1 is the actual positionPos0 reference
point, and the final operating position value is Pos0+ PosCmd1.
The absolute position command takes the absolute position value relative to the 0 point as the reference point. No
matter what the current actual position value is, whether there is a pulse margin that has not been completed. The
absolute position command value is the distance that needs to be traveled relative to absolute 0. As shown below
Shown
PosCmd0
Pos0 PosRem0
0
PosCmd1
:
As shown in the figure above, the first position command is set to PosCmd0. After running the Pos0 pulse, the
operation ends, and the remaining PosRem0 pulses are not completed. If the second absolute position
commandPosCmd1 is inserted at this time, the second position The total number of pulses run by the command is
PosCmd1- Pos0. That is, the second absolute position value PosCmd1 is the absolute position0 reference point, and
the final operating position value is PosCmd1.
9.3.2 Acceleration and deceleration time

During the operation of Internal multi-stage position controlfunction, the acceleration and deceleration time of the
motor is calculated based on the maximum speed of the motor. For example, if the acceleration time of the motor is set
to 100ms, it means that the motor is running., When accelerating from 0rpm to the maximum speed, it needs to
accelerate from 0rpm to the maximum speed in 100ms.

9 Internal location
Internal multi-stage position control function, set the maximum value of acceleration and deceleration time to
60000ms and the minimum value to 0ms. In Internal multi-stage position controlposition, if the relationship between the
acceleration and deceleration time, speed and position value is not reasonable. If it is unable to run according to the set
acceleration and deceleration time, the Internal multi-stage position control program will recalculate the acceleration
and deceleration time according to the current speed and target position value, and run according to the re-planned
acceleration and deceleration time, as shown in the figure below Shown:
S
S0
POS0 T
POS1
As shown in the figure above, when the motor runs to S0 according to the set acceleration time, if it continues to
decelerate according to the set deceleration time, the final running position value of the motor will reach the distance
shown by Pos1. And in the Internal multi-stage position When planning the controlposition command, the set target
position value is Pos0. In order to ensure that the final running position of the motor accurately reaches the position of
Pos0, the deceleration time needs to be re-planned to ensure that the motor finally runs to the Pos0position.
9.3.3 Internal multi-stage position control speed and delay time

Internal multi-stage position control speed setting is divided into two types: position control mode and speed
mode.
For the position mode, when the position command is planned, the desired operating speed is given by the speed
selected by the G part of the upper 16 bits of the control word in the Pr command section. This speed value can only be
given a positive speed value. According to the position command planning When, the positive and negative values of
the target position are used to set the positive reverse of the desired speed.
For the speed mode, when Pr is running, the target speed value is given by Pn804+POSNUM*4. If you want to run
in reverse in motor speed mode, you can set the value of Pn804+POSNUM*4 as a negative value. Speed is given by
Pn804 The speed value unit uses the D part of the lower 16 bits of the Pr command control word to select whether the
target speed is rpm or PPS as the unit.
During the operation of Internal multi-stage position control, whether it is the target speed in speed mode or the
desired speed in position mode, the allowable maximum speed value is 5000rpm, and when the speed exceeds
5000rpm, the speed limit is 5000rpm. . When the given speed unit in speed mode is PPS, the maximum value of
5000rpm is converted into the limit of PPSunit.
For non-interrupt and non-overlapping operation, the delay time of Internal multi-stage position control is effective.
After a period of Pr command is completed, how long it takes to wait before the next period of Pr command can be
executed. The unit of delay time is 0.1s. For speed mode, the delay time is defined as how long it takes to delay when
the motor running speed command reaches the set speed command value before it can run the next Pr command.
When the interrupt is running, the next Pr command will be executed immediately, so in the interrupt mode, the
delay time can be interrupted. That is, when the current Pr command has not been executed, or the execution has not
reached the delay time, you can use the interrupt function Execute the next Pr command immediately.
During overlapping operation, the set delay time is automatically ignored, and the next position command is
planned immediately when the deceleration point is reached.
9.4 Interrupt function
In Internal multi-stage position control function, the interrupt function can interrupt the operation of the previous
position command and immediately execute the newly inserted position command. It runs according to the newly
inserted position command target position. The position command is divided into incremental position, absolute position
and relative There are three forms of position. Position commands that are not the same are interrupted with each
other, and they have a non-same operation mode.

9 Internal location
9.4.1 Incremental position interrupt position command
Rem
Rem
POS1 T
POS0
As shown in the figure above, the incremental position interrupts the position command operation. The first
position command, the target positionPos0, is interrupted by the second position command during operation, and the
remaining pulse value of the first position command is Rem. The second position command is an incremental position
command, and the target position value is Pos1. After the second position command interrupts the first position
command, it immediately runs at the speed set by the second position command, because the second position
command is Increment position, so the total pulse value of the second position command running is the pulse value of
Pos0+Pos1. It is equivalent to the first position command margin as shown in the figure, and it is transferred to the
second position for execution.
9.4.2 Quite position command interrupted position command
Rem
POS1 T
POS0
As shown in the figure above, it is relative position interrupt position operation. The first position command, target
positionPos0, is interrupted by the second position command during operation, and the remaining pulse is Rem. The
second position command is the relative position command, the target positionPos1. After the second position
command is interrupted, it will run immediately at the target speed of the second position, and run the pulse digits
relative to the actual position value. Pos1. The total pulse digits passed after the two positions are completed
Pos0+Pos1-Rem That is, when the relative position is interrupted, the position margin value of the previous position is
ignored, and a position is run directly on the basis of the current actual position. As shown in the figure above, the
position equivalent to the Rem area is ignored.

9 Internal location
9.4.3 Absolute position interrupt position command
Rem
POS0
T
POS1
As shown in the figure above, it is an absolute position interrupt position operation. The first position command,
the target positionPos0, is interrupted by the second position command during operation, and the remaining pulse is
Rem. The second position command is an absolute position command, the target positionPos1. After the second
position command is interrupted, it will run immediately at the target speed of the second position, and run to the
absolute positionPos1. The total number of pulses passed after the two positions are run is Pos1. That is, before the
interrupt is ignored A position command value, directly according to the absolute position of the interrupt
Pn864function code definition
Function definition of part A of function code:
Part A function
0～9 Point buffer depth

Function definition of part E of function code:
Part E function
0 Jog invalid
1 Forward Jog
2 Negative Jog
The maximum point cache depth is 10 levels of cache. When the cache depth is set to 0, the point cache function
is disabled.
Note: In the Internal multi-stage position control program, it is allowed to store up to 10 Pr command segments.
The Pr command segment exceeding 10 segments will overwrite the previously stored command segment. The stored
Pr command segment can be a single position command or multiple segments The first command of the position
command.
During the operation of the previous Preposition command as a single position command, a new position
command is triggered through the PosTirgfunction, and the newly triggered position command is temporarily stored.
After the previous Pre command is completed, the stored position command is read for operation. The schematic
diagram of the segment storage function is shown below:
Single-segment storage diagram

9 Internal location
As shown in the figure above, during the operation of a single position command, another Pr command is
triggered. If the interrupt is not set for another Pr command, you need to wait for the execution of the current Pr
command to complete before executing. From the second Pr command During the time between the trigger and the
execution of the second Pr command, the second Pr command is temporarily stored in the position command storage
buffer.
9.4.4 multi-segment storage function

When the previous Pr command is a multi-segment Pr command, if a new position command is inserted, and the
newly inserted position command is not set to interrupt, it will be temporarily stored. Waiting for the current multi-
segment Pr command to be executed after the position segment is executed., Execute the stored position command
segment immediately. The remaining unexecuted position command segments of multiple positions will be discarded
and no longer executed. The multi-segment storage function is shown in the following figure:
Multi-segment storage diagram

As shown in the figure above, the first position command is a multi-segment position command, and there are 5
position command segments. During operation, when the multi-segment position command is executed to the third
position, a new position command value is inserted through an external trigger. Newly inserted position The command
does not set the interrupt function, so after waiting for the completion of the third position command of the previous
multi-segment position command series, the newly inserted position command value will be executed. The fourth and
fifth position command values of the multi-segment position command series will no longer be executed.
9.4.5 Overlapping storage function

When the previous position command is set to overlap the function, during the operation of the position command,
if a new position command is inserted through an external trigger, and the new position command does not set the
interrupt function, wait for the previous position command to execute to the deceleration point position, Start to read the
stored position command value, and plan the stored position command value in an overlapping manner. The
overlapping storage function is shown in the following figure:
Overlapping storage diagram

As shown in the figure above, the first position command sets the overlap function, and the new position
command is inserted by external trigger during operation. When the new position command is not set to interrupt, the
newly received position command is temporarily stored. When the first position When the command runs to the
deceleration point position, it is judged that the first position command overlap function is turned on. At this time, the
value of the temporarily stored position command is directly read, and the execution process of the temporarily stored
position command is planned in an overlapping manner.

9 Internal location
9.4.6 Interrupt storage function

The position command storage function of Internal multi-stage position control allows storing up to 3 position
command values. If there is currently a stored position command being executed, and there is still a stored position
command that has not been executed, use an external trigger to insert a new one position command. The new position
command sets the interrupt function, it will immediately interrupt the executing position command segment, and execute
the newly inserted position command value. After waiting for the newly inserted position command value to execute,
read the stored ones that have not been executed. Position command value, continue to execute. Interrupt storage
function as shown below:
Interrupt storage diagram

As shown in the figure above, during the execution of the first position command, there is a stored position waiting
to be executed. When the first position is executed, a new position command is inserted through an external trigger, and
the newly inserted position command enables the interrupt function and executes immediately The newly inserted
position command. After waiting for the newly inserted position command to complete, execute the stored position
command value.
9.5 Overlap function
When multiple positions are running continuously, you can achieve a smooth transition of multiple position
commands by setting multiple position overlapping functions. The function of the overlapping function is to directly read
the operating parameters of the next position when the first position runs to the position of the deceleration point
position, speed, acceleration and deceleration time, etc.), directly plan the next position trajectory from the deceleration
point, so as to achieve a smooth transition between the two position trajectories. The overlap function is shown in the
following figure:
Overlapping function diagram

9 Internal location
As shown in the figure above, when multiple positions overlap, when the deceleration point of the previous
position, the operating parameters of the next position command are directly read, and the running trajectory of the next
position command is planned on the basis of the current speed to realize the smoothing of the two positions Transition.
In the process of overlapping operation, the remaining pulse value that is not completed in the previous position
command will be compensated to run on the next position command, and there will be no pulse loss problem.
9.6 Stop function
During the operation of Internal multi-stage position control, PosStop can be used to trigger the current running
position command to stop. PosStop can be triggered by the rising edge of DI terminal by configuring external DI
terminal 0x20; it can also be triggered by means of communication, set Pn898= In the case of 1000, PosStop function is
realized. After stopping the currently running position command through the stop function, the remaining pulse value of
the current position that is not running will be temporarily stored in the program. Before starting to run the next Pr
command program, you need to consider the remaining pulse The stop function is shown in the figure below：
Stop function diagram

As shown in the figure above, the current running position command value is stopped by PosStopfunction during
position command operation. After the stop command is triggered, the motor decelerates from the current speed to 0
according to the 500ms deceleration time. After the motor stops, the remaining pulse value of the current position Will
not clear.
Before starting the next Preposition command planning, the current position command pulse needs to be
processed. If you want to clear the remaining amount of the current position command pulse, you can clear the
remaining pulse by sending a relative position command with a relative position of 0; if you want to change the current
position The remaining pulse of the command is completed, and the remaining pulse can be run by sending an
incremental position command with an incremental position of 0; if the next position command is an absolute position
command, the current remaining pulse has no effect on the operation of the absolute position command.
9.7 Jump function
In the Internal multi-stage position control program, the Pr command section allowed to be set is a jump
command. When a certain section of the Pr command section is set as a jump command, when the current stage is
executed, it will jump to Pr command section, immediately jump to the specified Pr command section for execution. The
value of the Pr command jumped to can be a single-segment position command, the first value of a multi-segment
position command, speed command, etc. During the jump process, if Jump command jump In its own situation, the
jump error occurs, and the servo drive automatically stops. The schematic diagram of the jump function is shown
below：

9 Internal location
跳转示意图
As shown in the figure above, the current position command is executed in sequence. When executed to the Pr3
command segment, the Pr3 command segment jumps to the command, jumps to the Pr7 specified segment, and
immediately jumps to the Pr7 command segment to execute the position defined by Pr7 command value.
Jump can be realized by sequential execution or by external trigger. Jump function can be realized by external
trigger jump command segment number. Jump command can enable interrupt function, if the triggered jump function is
enabled Interrupt function, interrupt the currently executing Pr command, and immediately jump to the specified Pr
command section; if the triggered jump function does not enable interrupt, the triggered jump command will be
temporarily stored and wait for the current Pr Jump after the execution of the specified segment is completed. The
interrupt jump function diagram is shown below：
Interrupt jump function

As shown in the figure above, there are two command segments 1 and 2 that are executed sequentially. When
multiple segments of command1 are currently being executed, segment 5 is specified by external trigger Pr, and
segment 5 is specified by Pr as a jump command, interrupt function is enabled, and jump The target command segment
number is 7. The currently running multi-segment command ends and immediately starts to execute the position
command value of Pr command segment 7.
In addition to jumping to any available Pr command segment number, the jump function can also implement multi-
segment position command loop execution through the jump function, as shown in the following figure:
Pr0 Pr1 Pr2 Pr3 Pr4 Pr5 Pr6 Pr7
Multi-section position command loop

As shown in the figure above, when the Pr command of the last paragraph of the multi-segment position
command is set, it is set as a jump command, from the last Pr command to the Pr command at the beginning of the
paragraph, so that multiple Pr commands can be executed in a loop.
9.8 Jog function
The Jog function can be Jog by communication or internal Jog operation through external
terminals. The Jog function must be operated with the servo enabled. During the Jog execution process, the
point function will no longer be executed. Jog execution The point can be executed normally after completion.
The internal Jog function code is shown in the following table:

9 Internal location
Pn500 Jog speed ○ Address:0x500
Factory
Setting range:0～1000 unit：rpm Control mode:P,S
default:500
Parameter description: Jog speed setting.unit rpm
Jog acceleration and
deceleration time
Factory
Setting range:2～10000 unit：ms Control mode:P,S
default:100
Parameter description: in Jog mode, acceleration and deceleration time setting.
Pn506 Jog delay time ○ Address:0x505
Factory
Setting range:0～10000 unit：ms Control mode:P,S
default:100
Parameter description: After the point reaches the set speed, the delay time.
9.8.1 Jog operation of external terminals

External terminal Jog, terminal function definition is shown in the following table:
Terminal function definition Description
0x1E Forward Jog
0x1F Reverse Jog
The external terminal input and Jog execution satisfy the following logic table:
Forward Jog 0x1E terminal
Reverse Jog 0x1ETerminal status Jog function password
status
OFF OFF Not executed Jog
ON OFF Forward Jog
OFF ON Reverse Jog
ON ON Not executed Jog
As shown in the above table, the relationship between Forward Jog and Reverse Jog is "exclusive OR". That is, if
only one terminal of Reverse Jog is valid, the Jog can be executed normally.
9.8.2 Communication Jog

Communication Jog is realized by the high 16 bits of function code Pn89F.
function
0 Jog invalid
1 Forward Jog
2 Reverse Jog
As shown in the above table, when the given function code Pn89F is 0, the Jog function is turned off; when the
given function code is 1, Forward Jog is performed; when the given value is 2, Reverse Jog is performed.
Note: Regardless of the external terminal Jog or the communication Jog., you need to set the servo enable
condition first.
function Effective
parameter name range Default unit Address
code way

9 Internal location
Selection of the stopping

method when the servo is Power off
0～2 0 － 0x0004
OFF and the first type of takes effect
alarm occurs
Pn004 0-stop the motor through DB

1- Stop the motor through DB, then release DB
2- Do not use DB, make the motor in free motion state
Note: DB (Dynamic Brake) is a function for emergency stop. If the power is turned on or off or the
servo motor is started or stopped by servo ON when the command is input, the DB circuit will
operate frequently, which may cause aging of the internal components of the servo unit , Please
input the speed command or position command to start and stop the servo motor.
Servo occurrence type 2

Power off
alarm stop method 0x00～0x01 0 － 0x0005
takes effect
selection
Pn005
0-zero speed stop: set the speed command to "0" and execute a rapid stop
1- Same as Pn004 stop method
Overtravel warning Power off

0～1 0 － 0x0006
detection option takes effect
Pn006
0-Do not detect overtravel warning when limit
1- Detection of overtravel warning when limit
Selection of stopping
Power off
method when servo 0～2 0 － 0x0007
takes effect
overtravel (OT)
Pn007 Set the stop mode when the servo overtravel occurs and the state after stopping:
0-Same as Pn004 stop method
1- Take the torque set by Pn053 as the maximum value, and enter the locked state after
decelerating and stopping
2- Take the torque set by Pn053 as the maximum value, and enter the free running state after
decelerating to stop
Servo lock time after

Effective
Pn008 electromagnetic brake is 0～50 0 10ms 0x0008
immediately
applied

9 Internal location
When the servo motor is enabled but not running, when the brake (/BK) signal and the servo ON
(/S-ON) signal are OFF when the same is OFF, setting this parameter can change the brake (/BK)
signal OFF to the actual motor Time to enter no power state
Note: The action delay time of the brake is slightly different. Setting this parameter can prevent the
mechanical movement of the vertical axis from being caused by the weight or external force of the
mechanical movement of the vertical axis when the motor is in the brake action.
Electromagnetic brake Effective

10～100 50 10ms 0x0009
brake delay immediately
Pn009 When the servo motor is rotating when the servo is OFF/an alarm occurs/the main circuit is OFF,
the servo motor is not energized. Through this parameter and the brake brake delay release
speed (any one is satisfied), the output time of the brake signal (/BK) OFF can be adjusted
Note: For the related logic, please refer to the "Holding Brake Action" Description.
Delay release speed of Effective

0～10000 100 rpm 0x0010
electromagnetic brake immediately
Pn010
For details, please refer to the related description of "Electromagnetic brake brake delay".

10.1 Basic Control Related Pn0 Group Parameters
Function Defaul Communication When

Control mode After
0~11 0 - 0x0000
selection restart
0-position mode: The position of the machine is controlled by the pulse sequence position
command. The position is controlled by the number of input pulses, and the speed is
controlled by the frequency of the input pulse that is used in the place where positioning
action is required
1- Analog speed: The servo motor speed is controlled by the analog voltage speed command
2-Torque Mode: The output torque of the servo motor is controlled by the analog voltage
torque command/internal torque command that’s used to output the necessary torque
(pressing action, etc.)
3-Internal speed: The speed is controlled by three internally set speeds set in the servo unit.
When this control method is selected, no analog voltage is required.
4-Internal Speed <-> Analog Speed: Switch control mode via ON/OFF of switch/SPD-A and
/SPD-B
Pn000 5-Internal Speed <-> Position Mode : Switch control mode via ON/OFF of switch/SPD-A and
/SPD-B
6-Internal Speed <-> Torque Mode: Switch control mode via ON/OFF of switch/SPD-A and
/SPD-B
7-Position Mode <-> Analog Speed: ON/OFF Switching Control Mode of Switching (/C-SEL)
Signal by Switching Control Mode
8-position mode <-> torque mode: ON/OFF switching control mode of the (C-SEL) signal
switching
9-Torque Mode <-> Analog Speed: ON/OFF Switching Control Mode of (C-SEL) Signal
Switching Mode
10 - Analog speed <-> Speed mode for zero function: When controlling speed, zero fixed
function can be used
11-Position Mode <-> Command Pulse Disabled Position Mode: When Control Position,
Command Pulse Disable Function
See the "mixed control mode selection" for detailed switching timing.
Immediatel
Internal enable 0~1 0 - 0x001
Pn001 y
0-Enable OFF 1-Enable ON
Motor rotation
After
direction 0~1 0 - 0x0002
restart
Pn002 selection
For motor end faces:
0-Counterclockwise is positive
1- Clockwise direction is positive
Default
Immediatel
Pn003 monitoring 0x0~0xfff 0xfff - 0x0003
y
parameters

Set the monitoring parameters that are displayed by default after power-on. The setting values
are detailed in the monitoring parameters. 0xfff indicates that the monitoring parameters are
not displayed and the system status is displayed.
Note: The alarm is displayed first when the alarm is displayed. The setting parameter cannot
be displayed normally.
Servo OFF and
stop method
After
selection when 0~2 0 － 0x0004
restart
Type 1 alarm
occurs
0- Stop motor by DB
1- Stop the motor through the DB and then release the DB
Pn004 2- Do not use DB to keep the motor free
Note: DB (Dynamic Brake) is an emergency stop function. If the servo motor is started or
stopped by ON/OFF power supply or servo ON in the state that the command is input, the DB
circuit will frequently operate, which may cause the internal components of the servo unit to
deteriorate. Please execute start and stop of the servo motor with speed input command or
position command.
Second type
Alarm Stop
Method 0x00~0x0 After
0 － 0x0005
Selection of 1 restart
Pn005 Servo
Generation
0 - Zero speed stop: Set the speed command to "0" and perform a quick stop
1- Same as Pn004 stop method
Override
Warning After
0~1 0 － 0x0006
Checkout restart
Pn006 Selection
0-No overtravel warning when limit is checked
1-Override warning is detected when the limit is set
Stopping method
selection at After
0~2 0 － 0x0007
servo overtravel restart
(OT)
Set the stop mode and post-stop status when servo overtravel occurs:
Pn007 0 - same as Pn004 stop method
1- Use the torque set by Pn053 as the maximum value, and enter the locked state after
decelerating to stop.
2- Use the torque set by Pn053 as the maximum value, enter the free running state after
decelerating to stop
Servo lock time
after
10m Immediatel
electromagnetic 0~50 0 0x0008
s y
brake
holding
Pn008 When the servo motor is enabled but not running and the brake (/BK) signal and the servo ON
(/S-ON) signal are off at the same time, setting this parameter can change the non-powered
time from the brake (/BK) signal OFF to the actual input of the motor.
Note: The brake delay time is slightly different. When this parameter is set, the motor can be
prevented from the slight moving by the weight or the external force of the vertical-axis
mechanical movement.
Electromagnetic
10m Immediatel
brake holding 10~100 50 0x0009
s y
time delay
Pn009 The servo motor won’t be electrified when the Servo OFF/Alarm/Main circuit OFF occur during
the rotation. By setting this parameter and Pn010 (any one is met), the output timing of the
brake signal (/BK) OFF can be adjusted.
Note: The relevant logic is described in "Keep brake action"
Electromagnetic
brake brake Immediatel
0~10000 100 0x0010
delay release y
Pn010
speed rpm
See the description of “Electromagnetic brake brake delay” for details
External
Immediatel
regenerative 0~65535 0 10W 0x0012
y
resistor power
When connecting an external regenerative resistor, the regenerative resistor power should be
Pn012
set to a value that matches the allowable capacity of the connected external regenerative
resistor. The setting differs depending on the cooling condition of the external regenerative
resistor.
Note: Refer to "Setting the regenerative resistor" for details
External
Immediatel
regenerative 0~65535 0 mΩ 0x0013
y
resistor
When connecting an external regenerative resistor, the regenerative resistor value should be
Pn013
set to the value matching the connected external regenerative resistor.
Note: The minimum regenerative resistance of each power section could be different. Please
refer to “Set regenerative resistor” for details. Otherwise, the internal components of the servo
unit may be damaged.
Overload After
1~100 20 % 0x0015
warning value restart
Pn015 Setting this parameter can change the overload warning detection time. For example, the
factory overload warning detection time is 20% of the overload warning detection time.
Note: The overload alarm detection time is detailed in "Overload alarm"
Motor overload
detection base After
10~100 100 % 0x0016
current derating restart
setting
Pn016
This parameter can change the motor current threshold for calculating the overload alarm,
which can shorten the overload alarm detection time.
Note: This value is invalid when the motor current is rated above 200%.
Immediatel
Pn030 Reserved 0~65535 0 - 0x0030
y
Parameter
After
modification 0~1 0 - 0x0031
restart
operation lock
Pn031 0-allow panel parameters modification
1-prohibit panel parameters modification
Method to use
After
Pn040 absolute 0~1 0 － 0x0040
restart
encoder

0 - Use an absolute encoder as an absolute encoder: If the motor is an absolute multi-turn
encoder, setting this parameter to 1 can use the multi-turn absolute function
1- Use an absolute encoder as an incremental encoder: When used as an incremental
encoder, the power-off position won’t be recorded and warning or alarm, corresponding to
multiple revolutions, won’t happen either when the battery is undervoltage or the drive is de-
energized
Absolute
encoder battery After
0~1 0 － 0x0041
warning/warning restart
selection
0- Set the low battery voltage as a fault: The driver powers up/resets for 4~9 seconds to
Pn041
monitor the battery status. Undervoltage will be reported as an under voltage alarm (Er. 830).
Over time will not be detected.
1- Set the low battery voltage as a warning: Undervoltage (below 3V) will be reported as an
under voltage alarm (Al.930). It will always monitor the battery voltage and can be self-
recovery meanwhile enable running is out of restriction
Fully closed loop
After
application 0-51 1 - 0X0045
restart
related switches
0: Encoder pulse frequency division output, the grating ruler power is valid, and the grating
ruler signal is not filtered
1: Pulse output, the power of the grating ruler is valid, and the grating ruler signal is not
filtered
2: The pulse frequency division output of the device, the power supply of the grating ruler is
invalid, and the grating ruler signal is not filtered
3: Rush output, the power of the grating ruler is invalid, and the grating ruler signal is not
filtered
4: The pulse frequency division output of the device, the power supply of the grating ruler is
Pn044 effective, 0~4MHZ filtering
16: The grating ruler pulse output, the grating ruler power supply is valid, 0~4MHZ filtering
18: encoder pulse frequency division output, grating ruler power supply is invalid, 0~4MHZ
filtering
19: Scale pulse output, grating ruler power supply is invalid, 0~4MHZ filter
32: Coder pulse frequency output, grating ruler power supply is valid, 0~1MHZ filter
33: Scale pulse output, scale power supply is valid, 0~1MHZ filter/[49] scale pulse output, scale
power supply is valid, 0~500KHZ filter
34: Coder pulse frequency output, grating ruler power is invalid, 0~1MHZ filter
35: Scale pulse output, the power supply of the scale is invalid, 0~1MHZ filter
48: Coder pulse frequency output, grating ruler power is valid, 0~500KHZ filtering
50: Coder pulse frequency output, grating ruler power is invalid, 0~500KHZ filter 51: grating
ruler pulse output, grating ruler power is invalid, 0~500KHZ filter
Undervoltage
0x00~0x0 After
function 0 － 0x0045
2 restart
selection
Pn045 0 – No Detection of Main Circuit Descent Warning
1- Detection of Main Circuit Descent Warning
2 - Detect main circuit down warning and perform torque limit. The relevant torque limit is
matched with Pn046/Pn047. For details, refer to "Main circuit undervoltage torque limit".
Torque limit
when main Immediatel
0~100 50 % 0x0046
circuit voltage y
Pn046 drops
According to the under voltage warning, it will impose the torque limit inside the servo unit. For
details, see the "Torque limit under voltage" instruction.
Torque limit Immediatel
Pn047 0~1000 100 ms 0x0047
release time y

when main
circuit voltage
drops
After the under-voltage warning signal releases, the torque limit value is controlled within the
servo unit according to the set time. For details, see “Under-voltage limit of the main circuit”.
Torque limit Immediatel
0~3 1 - 0x0050
setting y
0 - Analog torque (torque mode is invalid)
1- maximum torque limit is 1
Pn050 2- maximum Forward torque limit is 1 and maximum Reverse torque limit is 2
3- Maximum torque limit is 1 when the "Torque Limit Switching" switch is OFF while Maximum
torque limit is 2 when it’s ON
Maximum torque Immediatel

Pn051 0~500 500 % 0x0051
limit 1 y
Maximum torque Immediatel
Pn052 0~500 500 % 0x0052
limit 2 y
Emergency stop Immediatel
0~800 800 % 0x0053
torque y
Pn053
The torque when set the motor stop method to deceleration stop.
Panel parameter 0x00~0x0 After

1 － 0x0061
display selection 1 restart
Pn061 0- Only display setting parameters
1- Show all parameters
Encoder divider 16~41943 After

2048 - 0x0070
pulses 04 restart
The number of pulses per cycle from the encoder is divided by frequency in accordance with
the set value of this parameter. Please set it according to the system specifications of the
Pn070
machine and host device.
Note: The set value is the number of A/B quadrature output pulses in one turn. The setting of
the number of encoder crossover pulses will be limited due to the resolution of the encoder.
For details, see the “Divided pulse output setting” instruction.
negate the divide After
0~1 0 - 0x0072
frequency output restart
A/B pulse phase sequence logic when setting forward/reverse:
Pn072 0- Don’t negate the pulse output: When forward, A is ahead of B
1- Negate the pulse output: When forward, B is ahead of A
Local
0x00~0x7 After
Pn080 communication 1 － 0x0080
F restart
address
485
communication After
0~4 1 － 0x0081
baud rate restart
selection
Pn081
0-9600bps 1-19200bps
2-38400bps 3-57600bps
4-115200bps
485 After
Pn082 0~5 1 － 0x0082
communication restart
verification
method
0-no parity (N,8,1) 1-even parity (E,8,1)
2-odd check (O,8,1) 3-no check (N,8,2)
4-Even Check (E,8,2) 5-Odd Check (O,8,2)
Canopen
communication After
Pn083 0~6 4 - 0x0083
baud rate restart
selection
Communicatio
0x0~0xF Immediatel
n data storage 0x1 - 0x0085
FF y
EEPROM
Bit0: 0: Store data to Eeprom 1: Do not store data to Eeprom
Bit1: 0: When power on, the value of Pn085 is forced to Bit0 to 1
Pn085 1: When power on, the value of Pn085 Bit0 is not forced to 1
Panel keyboard operation settings:
00: Modified data will be stored in Eeprom after power-off. Pn085 will change to 01 after the
servo is restarted. After connecting to the host computer, it will display 00. Disconnect the
host computer and re-power on. The panel displays Pn085n085 as 01 again (not stored in
Eeprom after power-on Store electricity to Eeprom)
Communicatio
n address Immediatel
0~1 0 - 0x0086
mapping y
Pn086
function switch
0: The mapping function is off
1: The mapping function is turned on
Mapping source 0x0000 Immediatel
0x11
Pn087 address 1 ~ - 0x0087 y
0
0xFFFF
Mapping target 0x0000 Immediatel
0x41
Pn088 address 1 ~ - 0x0088 y
0
0xFFFF
Mapping source 0x0000 Immediatel
0x20
Pn089 address 2 ~ - 0x0089 y
1
0xFFFF
Mapping target 0x0000 Immediatel
0x30
Pn08A address 2 ~ - 0x008A y
4
0xFFFF
Encoder
alarm After
0～255 80 ℃ 0x008B
threshold repower
(℃)
The over-temperature alarm value of Nikon encoder is fixed at 90℃, and Pn08B is invalid to
Pn08B
the over-temperature alarm value change of Nikon encoder. 8 (inclusive) Tamagawa
encoders below flange have no encoder over-temperature alarm. For encoders that cannot
detect over-temperature alarms, Pn08B will be automatically written as 0 in the program;
Tamagawa encoders above 130 (inclusive) flange must be in Pn08C In the case of bit4=1,
Pn08B is written into the encoder EEPROM to be effective, otherwise it will not be executed
(Pn08B=0 turns off the over-temperature alarm function)
Encoder
alarm 0x00～ After
0x00 - 0x008C
detection 0x11 repower
Pn08C
selection
It must be valid when Pn08C bit4=1, Pn08B is written to the encoder EEPROM, otherwise it
will not be executed

10.2 Gain Related Pn1 Group
Function Parameter Defaul Communication When

Range Unit
Immediat
Rotary inertia ratio 0~20000 100 % 0x0100
Pn100 ely
Rotary inertia ratio = load inertia of motor shaft conversion / rotor rotary inertia of servo motor *100%
Immediat
First speed gain 1~2000 40.0 Hz 0x0101
ely
Pn101 Determine the parameters of the speed loop responsiveness. It becomes a delay element of the outer position
loop when the response of the speed loop is low, so overshoot or vibration of the speed command occurs. In the
range where the mechanical system does not vibrate, the larger the value is set, the more stable the servo system
becomes and the better the responsiveness will be.
0.15~51 Immediat
First speed integration time constant 20.00 ms 0x0102
2 ely
Pn102 In order to respond to small input, the speed loop contains integral elements. Since this integral element is a delay
factor for the servo system, when the time parameter is set too large, overshoot may occur, or the positioning time
may be extended meanwhile resulting in poor responsiveness.
Immediat
First position gain 1~2000 40.0 1/s 0x0103
ely
The position loop response is determined by the position loop gain. The higher the setting of the position loop gain
Pn103
is, the higher the responsiveness and the shorter the positioning time will be. The position loop gain cannot be
increased beyond the rigidity of the mechanical system. To increase the position loop gain to a larger value, the
rigidity of the machine must be increased.
0~655.3 Immediat
First torque command filter 1.00 ms 0x0104
5 ely
Pn104 Adjusting the parameters of the torque command filter may eliminate the machine vibration caused by the servo
drive. The smaller the value is, the better the responsiveness can be. However, the conditions are restricted by the
machine conditions.
Immediat
Second speed gain 1~2000 40.0 Hz 0x0105
ely
Determine the parameters of the speed loop responsiveness. It becomes a delay element of the outer position
Pn105
loop when the response of the speed loop is low, so overshoot or vibration of the speed command occurs. In the
range where the mechanical system does not vibrate, the larger the value is set, the more stable the servo system
becomes and the better the responsiveness will be
The second speed integration time 0.15~51 Immediat
20.00 ms 0x0106
constant 2 ely
Pn106 In order to respond to small input, the speed loop contains integral elements. Since this integral element is a delay
factor for the servo system, when the time parameter is set too large, overshoot may occur, or the positioning time
may be extended meanwhile resulting in poor responsiveness.
Immediat
Second position gain 1~2000 40.0 1/s 0x0107
ely
The position loop response is determined by the position loop gain. The higher the setting of the position loop gain
Pn107
is, the higher the responsiveness and the shorter the positioning time will be. The position loop gain cannot be
increased beyond the rigidity of the mechanical system. To increase the position loop gain to a larger value, the
rigidity of the machine must be increased.
0~655.3 Immediat
Pn108 Second torque command filter 1.00 ms 0x0108
5 ely

Adjusting the parameters of the torque command filter may eliminate the machine vibration caused by the servo
drive. The smaller the value is, the better the responsiveness can be. However, the conditions are restricted by the
machine conditions.
0x00~0x Immediat
Gain switching mode selection switch 0 － 0x0110
01 ely
The gain switching function includes two methods of “manual gain switching” using an external input signal and
“automatic gain switching” automatically switching. By using the gain switching function, gain can be increased
Pn110 and positioning time can be shortened during the positioning time. When the motor is stopped. Reduce gain and
suppress vibration.
0- Manual Gain Switching of the External Input Signal (G-SEL)
1- When the automatic switching condition is met (Pn111), it automatically switches from the first gain to the
second gain; otherwise, it switches back to the first gain.
automatic switching condition of position 0x00~0x Immediat
0 － 0x0111
control gain 05 ely
0-positioning completion signal ON
1-Positioning completion signal OFF
Pn111 2-positioning proximity signal ON
3- positioning proximity signal OFF
4- position command is 0 after filtering and pulse input is OFF
5- position command pulse input is ON
If the conditions are met, then switch to the second gain, otherwise switch to the first gain
Immediat
Gain switching transition time 1 0~65535 0 ms 0x0112
ely
Pn112
After finish the Waiting Time from the time when the switching condition has been met, the gain of the first position
loop is changed linearly to the gain of the second position loop in the transition time.
Immediat
Gain switching transition time 2 0~65535 0 ms 0x0113
ely
Pn113
After finish the Waiting Time from the time when the switching condition has been met, the gain of the second
position loop is changed linearly to the gain of the first position loop in the transition time.
Immediat
Gain switching wait time 1 0~65535 0 ms 0x0114
ely
Pn114
The time from when switching condition is established from the first gain to the second gain to when the switching
is actually started
Immediat
Gain switching wait time 2 0~65535 0 ms 0x0115
ely
Pn115
The time from when switching condition is established from the second gain to the first gain to when the switching
is actually started
Immediat
Speed feedforward gain 0~100 0 % 0x0121
ely
Pn121
The time from when switching condition is established from the second gain to the first gain to when the switching
is actually started
Immediat
Speed feedforward filter time 0~64 0.00 ms 0x0122
ely
Pn122
Speed feedforward low-pass filter time constant can slow position overshoot and torque jump caused by
feedforward
Use V-REF as speed feedforward 0x00~0x After
Pn123 0 － 0x0123
selection 01 restart

Speed feedforward is a function to shorten the positioning time. It is possible to select speed feed forward via
external analog V-REF.
0-None
1- Use V-REF as speed feed forward input
Speed/position control selection (T-REF After

0~1 0 － 0x0124
assignment) restart
Torque feedforward is a function to shorten the positioning time. Torque feedforward can be selected by external
Pn124 analog T-REF.
0-None
1- Use T-REF as a torque feed forward input
After
Speed loop control method (PI/IP) 0~1 0 － 0x0130
restart
Pn130 0-PI control
1-I-P control
Speed loop P/PI switching condition 0x00~0x Immediat

0 － 0x0131
selection switch 04 ely
The mode switch is a function that automatically switches P control and PI control. Through setting the switching
condition by this parameter and meeting the corresponding switching condition value can suppress overshoot
during acceleration and deceleration and shorten the settling time.
Pn131
0- Conditioned by internal torque command
1- Conditioned by speed instruction
2- Conditioned by acceleration
3- Conditioned by position deviation pulse
4-No mode switch function
Speed loop P/PI switching condition Immediat
0~800 200 % 0x0132
(torque command) ely
Pn132
When the torque command exceeds the torque set by this parameter, the speed loop will be switched to P control,
otherwise PI control
Speed loop P/PI switching condition Immediat
0~10000 0 0x0133
(speed command) rpm ely
Pn133
When the speed command exceeds the speed set by this parameter, the speed loop will be switched to P control,
Speed loop P/PI switching conditions Immediat
0~30000 0 0x0134
(acceleration) rpm/s ely
Pn134
When the speed command exceeds the acceleration set by this parameter, the speed loop will be switched to P
control, otherwise PI control
Speed loop P/PI switching conditions Immediat
0~10000 0 Unit 0x0135
(position deviation) ely
Pn135
When the position deviation exceeds the value set by this parameter, the speed loop will be switched to P control,
0x00~0x 0x001 Immediat
IF suppression control options － 0x0140
11 0 ely
The IF suppression control function effectively suppresses the continuous vibration of about 100 to 1000 Hz that
Pn140 occurs when the control gain is increased.
0x1#: Automatic setting of IF suppression frequency through intelligent setting and bandwidth setting
0x0#: Not set by intelligent setting, bandwidth setting, only manual setting
0x#1: IF suppression frequency setting is valid
0x#0: IF suppression frequency setting is invalid
Immediat
IF suppression frequency 1~3000 100.0 Hz 0x0142
Pn142 ely
Set IF vibration frequency value

Immediat
IF damper attenuation gain 0~300 0 % 0x0143
ely
Pn143 Increasing this parameter can increase the vibration suppression effect. However, if the setting is too large, the
vibration may be increased. When confirming the vibration suppression effect, simultaneously gradually increase
the setting value by each 10% in the range of 0% to 200%. If the vibration suppression effect is still not achieved
after reaching 200%, please stop the setting and reduce the control gain appropriately.
Notch filter 1 automatic adjustment 0x00~0x Immediat

1 － 0x0150
selection 01 ely
Pn150
0 - Automatic adjustment without auxiliary functions
Notch filter 2 automatic adjustment 0x00~0x Immediat

1 － 0x0151
selection 01 ely
Pn151
0 - Automatic adjustment without auxiliary functions
Automatic trap resonance detection Immediat
1~200 100 % 0x0152
sensitivity ely
Pn152 It’s used to set the sensitivity for automatically detecting the resonant frequency. The smaller the value is set, the
more sensitive it will be for resonance, the easier it is to detect vibration, and the smaller it is, the more likely it is to
falsely detect the resonance frequency.
Immediat
Notch filter 1 frequency 50~5000 5000 Hz 0x0153
ely
Sets the frequency of the first notch filter that suppresses resonance. When this parameter is set to 5000, the
Pn153 function of the notch filter is invalid.
Note: Do not set the notch filter frequency close to the response frequency of the speed loop. At least this
frequency should be set to more than 4 times of the speed loop gain, otherwise it may affect the overall
performance of the system.
Immediat
Notch filter 1Q value 0.5~10 0.70 - 0x0154
ely
Pn154
The Q value of the notch filter refers to the setting value of the filter frequency width related to the notch filter
frequency. The width of the recess varies with the Q value of the notch filter, and the larger the Q value of the
notch filter is set. The more sunk and the narrower the width of the filter frequency will be.
Immediat
Notch filter 1 depth 0~1 0.000 - 0x0155
ely
The notch filter depth refers to the setting of the filter frequency depth related to the notch filter frequency. The
Pn155
depth of the recess varies with the depth of the notch filter.
The smaller the notch filter depth value is, the deeper the depression and the higher the vibration suppression
effect will be. But setting it too small will increase the vibration
Immediat
Notch filter 2 frequency 50~5000 5000 Hz 0x0156
ely
Sets the frequency of the second notch filter that suppresses resonance. When this parameter is set to 5000, the
Pn156 function of the notch filter is invalid.
Note: Do not set the notch filter frequency close to the response frequency of the speed loop. At least this
frequency should be set to more than 4 times of the speed loop gain, otherwise it may affect the overall
performance of the system.
Immediat
Notch filter 2Q value 0.5~10 0.70 - 0x0157
ely
Pn157 The Q value of the notch filter refers to the setting value of the filter frequency width related to the notch filter
frequency. The width of the recess varies with the Q value of the notch filter, and the larger the Q value of the
notch filter is set. The more sunk and the narrower the width of the filter frequency will be.

Immediat
Notch filter 2 depth 0~1 0.000 - 0x0158
ely
The notch filter depth refers to the setting of the filter frequency depth related to the notch filter frequency. The
Pn158
depth of the recess varies with the depth of the notch filter.
The smaller the notch filter depth value is, the deeper the depression and the higher the vibration suppression
effect will be. But setting it too small will increase the vibration
Disturbance compensation function 0x00~0x Immediat
0 － 0x0160
selection 01 ely
Set disturbance compensation function switch:
Pn160 0- Not use
1-use
Immediat
Disturbance observer cutoff frequency 1~1000 150.0 Hz 0x0161
ely
Pn161
Set the disturbance compensation gain. Increasing it can increase the effect of suppressing the disturbance effect,
but excessive noise will occur.
Immediat
Disturbance compensation coefficient 0~100 0 % 0x0163
ely
Pn163
Set the disturbance compensation coefficient and the received position command or speed command, then add
the disturbance torque compensation value to the torque command
Disturbance observer inertia correction Immediat
Pn165 1~1000 100 % 0x0165
coefficient ely
The disturbance observer inertia is set by this parameter to adjust the identification error caused by inaccurate
inertia setting.
Note: When the inertia ratio is set correctly, the value is set to 100
After
Speed observer switch 0~1 0 0x0166
restart
Pn166 Set speed observation function switch:

0- Invalid
1- valid
Immediat
Speed observer cutoff frequency 1~500 80 Hz 0x0167
ely
Pn167
This parameter sets the speed observer bandwidth. Increasing the set value will increase the response speed of
the speed feedback value to track the real speed. If the speed is too large, vibration and noise may occur.
Immediat
Friction torque compensation cutoff speed 0~1000 20 rpm 0x0170
ely
Friction compensation function is a function that compensates for viscous friction and fixed load changes. It is
Pn170
adjusted according to the friction compensation coefficient. Generally, please set the friction compensation
coefficient to 95% or less. If the effect is not obvious enough, please increase the friction compensation cut-off
speed at a rate of 10% each within the range that does not generate vibration
Friction torque positive compensation %/100r Immediat

0~100 0 0x0171
coefficient pm ely
Pn171
The higher the setting value is, the better the effect is. However, if the setting value is too high, the response is
more likely to vibrate. Usually we set the setting value below 95%.
Friction torque reverse compensation %/100r Immediat
Pn172 0~100 0 0x0172
coefficient pm ely

The higher the setting value is, the better the effect is. However, if the setting value is too high, the response is
more likely to vibrate. Usually we set the setting value below 95%.
0x00~0x After
Robust control options 1 － 0x0175
01 restart
Robust control function means that the function of stable response can be obtained through automatic adjustment
within a certain range, regardless of mechanical type, load fluctuation, or inertia change.
Pn175 Set the robust control function switch:
0-Invalid
1-valid
Immediat
Robust control tuning value 10~80 40.0 Hz 0x0177
ely
Pn177
Set the gain-tuning value of the robust control. The larger the value is set, the faster the system responds, but
system overshoot and excessive noise may occur.
Immediat
Minimum load value of robust control 0~500 0 % 0x0178
ely
Pn178
Set the robust control load factor. The larger the value is set, the faster the system responds, but it will be noisier.
When the inertia is large, increasing the value properly could reduce overshoot.
0x00~0x Immediat
Vibration detection options 0 － 0x0185
02 ely
This function can automatically detect the value related alarms or warnings in order to detect the machine vibration
under normal operating conditions.
Pn185 The perform way after setting the vibration detection:
0-No vibration detected
1-warning after vibration is detected
2-Alarming after vibration is detected
Immediat
Vibration detection sensitivity 50~500 100 % 0x0186
ely
Set the sensitivity of the detected vibration. The smaller the setting value is, the more sensitive it is. If the setting is
Pn186
too small, the vibration may be detected by mistake during normal operation.
Note: The detection sensitivity of the vibration alarm and vibration alarm may differ depending on the state of the
machine being used.
Immediat
Vibration detection value 0~5000 50 0x0187
rpm ely
Set the threshold for vibration detection. The smaller the setting is, the easier it is to detect the vibration. If the
Pn187
setting is too small, the vibration may be detected by mistake during normal operation.
Note: The vibration detection values of vibration alarm and vibration warnings may differ according to the condition
of the used machine
10.3 Position Related Pn2 Group Parameters
Function Communicati When

code on address enabled
Pulse input
Pn200 filter 0~2 0 - 0x0200 After restart
selection

Use this parameter to select the position command filter to better suppress the interference in the
command pulse
0-line drive filter ~1MHZ
1-collector open-circuit filter
2-line drive filter 1~4MHZ
Note: Please set a reasonable filter according to the pulse frequency, otherwise it may cause poor
pulse immunity or pulse loss.
Pulse input
0~6 0 - 0x0201 After restart
form
0-pulse + direction positive logic
Pn201 1-CW+CCW positive logic
4-4 times of quadrature encoding
5-pulse + direction negative logic
6-CW+CCW negative Logic
Pulse input
direction 0~1 0 - 0x0202 After restart
negation
Pn202 Select the negation of pulse input direction:
0-positive polarity
1-negative polarity
Command
pulse input
1~100 1 x1倍 0x0203 Immediately
magnificati
on
Pn203
Set the command pulse input magnification value to be used in conjunction with ON/OFF of the
command pulse magnification switching signal for switching the position command pulse input
magnification to 1 and the parameter setting multiple
Note: The input pulse frequency is too low. If the value is set too large, the speed may not be steady.
Electronic
0~107374182 0x0206
gear ratio 64 - After restart
4 0x0207
numerator
Electronic
gear ratio 1~107374182 0x0208
1 - After restart
denominat 4 0x0209
or
Position mode full closed loop is invalid:
The electronic gear ratio is a function to set the movement of the workpiece in 1 pulse unit of the
upper device input command, such as the screw drive, the screw pitch is 10mm, and the upper system
requires the motor shaft and the machine deceleration ratio on the load side to be
Pn204 When N1/N2 (the load shaft rotates N1 times when the motor rotates N2 times), then:
Pn206 Electronic Gear Ratio numerator /Electronic Gear Ratio denominator = Encoder Resolution / Pulse
Number of Upper System 1r * Reduction Ratio N1/N2
When fully closed loop is valid:
The electronic gear ratio is the ratio of the amount of movement of the workpiece per pulse unit input
by the host device and the amount of movement per pulse output by the grating ruler.
Such as screw drive, the screw pitch is 10mm, and the grating ruler resolution is 0.5um.
The upper system requires that the number of pulses for the motor to rotate 1r is 20000, that is, the
pulse equivalent is 0.5um/pluse, and the movement of the grating ruler is 0.5um to output 1 pulse,
then:
Electronic Gear Ratio numerator /Electronic Gear Ratio denominator = Input command movement
amount per pulse / The grating ruler outputs the movement amount of 1 pulse=0.5/0.5=1/1
Internal
After
Pn208 position 0～4 0 － 0x0208
repower
command

0-position command selection external pulse input
1-position command selection internal position command
2-Tracking electronic cam
3- reserved
4-CANopen mode
When using CANopen mode, Pn208 must be set to 4 (CANopen mode)
Position
command
low-pass 0~655 0 ms 0x0211 After stop
filter time
Pn211 constant
This parameter is used to set the time constant of the first-order low-pass filter corresponding to the
position command and it can reduce the mechanical shock in the case of abrupt changes in the input
pulse command frequency by setting this parameter.
Average
filter time
in position 0~1000 0 ms 0x0212 After stop
instruction
Pn212 rolling
This parameter is used to set the time constant of the moving average filter of the corresponding
position instruction. It can reduce the mechanical shock in the case of abrupt changes in the input
pulse command frequency by setting this parameter.
Low-
frequency
vibration 0x00~0x02 0 － 0x0230 Immediately
suppressio
n options
Pn230 This parameter is used with Pn231 as the automatic adjustment mode setting
0 - No vibration suppression
1- Additional vibration suppression function for specific frequency
2-Add vibration suppression to 2 different frequencies
Automatic
adjustment
selection in
low-
frequency
vibration
Pn231 suppressio
n
This parameter is set to choose if the low-frequency vibration suppression is automatically set in the
intelligent settings, bandwidth settings and other auxiliary functions:
0 - Vibration suppression function won’t be automatically adjusted via auxiliary functions
1- Vibration suppression function will be automatically adjusted via auxiliary functions
Low-
frequency
vibration 0.1~300 40.0 % 0x0232 Immediately
detection
Pn232
sensitivity
This parameter is used to set the sensitivity of low-frequency vibration detection when the positioning
is completed. The smaller the sensitivity is set, the easier it is to automatically detect the low
frequency vibration frequency point.
Low-
Pn235 1~200 200.0 Hz 0x0235 Immediately
frequency
vibration
suppressio
n1
frequency
This parameter is used to set the frequency of low frequency vibration suppression 1
Low
Frequency
Vibration
10~1000 100 % 0x0236 Immediately
Suppressio
Pn236 n1
Correction
This parameter is used to set the correction coefficient of low-frequency vibration suppression 1. The
larger the value is set, the more obvious the suppression effect of low-frequency is, and settting it too
small may cause long positioning time.
Low-
frequency
vibration
1~200 200.0 Hz 0x0237 Immediately
suppressio
Pn237 n2
frequency
This parameter is used to set the frequency of low-frequency vibration suppression 2
Low-
frequency
Vibration
10~1000 100 % 0x0238 Immediately
Suppressio
n2
Pn238
Correction
This parameter is used to set the correction coefficient of low-frequency vibration suppression 2. The
larger the value is set, the more obvious the suppression effect of low-frequency is, and settting it too
small may cause long positioning time.
Model
tracking
control
selection
Pn240
Model-tracking control specifically selects the function of positioning, model tracking control selection
switch is:
0- Not use model tracking control
1- Use model tracking control
Model
tracking
1~2000 50.0 1/s 0x0241 Immediately
control
gain
Pn241
The size of the model tracking control gain determines the response speed of the servo system. If the
model tracking control gain is increased, the responsiveness becomes faster and the positioning time
becomes shorter. When the model tracking control is effective, the position response and deviation of
the servo system are determined by this parameter, rather than position gain
Model
tracking
Pn242 control 50~200 100.0 % 0x0242 Immediately
attenuation
coefficient

The tracking attenuation coefficient of the model decreases, and the position tuning section is easy to
cause excessive overshoot. If the setting is too small, the position oscillates easily. When the setting
increases, the position overshoot decreases, but when the position is too large, the position easily
rebounds, causing the positioning time to change. Long, it is recommended to keep this value
unchanged during normal use.
Model
tracking
control
0~1000 100.0 % 0x0243 Immediately
speed
Pn243 feedforwar
d gain
The feed forward gain of the model tracking speed is reduced, and the responsiveness is slower, but
position overshoot doesn’t easily occur. If the feedforward gain is too small, the position deviation will
end in a long time.
Model
tracking
control
forward 0~1000 100.0 % 0x0244 Immediately
torque
Pn244
feedforwar
d gain
It’s a forward position command and could be used when adjusting the forward response separately.
When it is increased, the torque feed forward rises faster and the positioning time can be shortened
appropriately.
Model
tracking
control
reverse 0~1000 100.0 % 0x0245 Immediately
torque
Pn245
feedforwar
d gain
It’s a reverse position command and could be used when adjusting the forward response separately.
When it is increased, the torque feed forward rises faster and the positioning time can be shortened
appropriately.
Second
model
tracking 1~2000 50.0 1/s 0x0246 Immediately
Pn246 control
gain
Use second gain when model tracking is valid.
Second
model
tracking
50~200 100.0 % 0x0247 Immediately
Pn247 control
attenuation
coefficient
Use second gain when model tracking is valid.
Speed
feedforwar
Pn249 d/torque 0x00~0x01 0 － 0x0249 Immediately
feedforwar
d selection

0-not use model tracking control and external speed and torque feed forward at the same time
1-use model tracking control and external speed and torque feed forward at the same time
When using the model tracking control, the optimal feedforward will be set inside the servo, and it is
not recommended to use the "speed feed forward (V-REF) input" and "torque feed forward (T-REF)
input" from the upper unit at the same time. However, it can be used at the same time as needed. In
this case, if the input feed forward is incorrect, it may cause overshoot and system instability.
The use
way
external
encoder After
0~3 0 － 0x0250
in full repower
closed
loop
control
Pn250
0-Do not use full closed loop function
1- Use in standard running direction
2- Use in reverse running direction
When setting the motor forward, the moving direction of the grating ruler is set. If the direction is set
incorrectly, it may cause an alarm for overspeed or excessive deviation between the motor and the
load. You can manually move the load before running, and change this parameter to make the
monitoring parameter Un007 (feedback pulse counter) ) Run after the change direction is consistent
with Un012 (external encoder feedback pulse counter).
The
deviation
coefficien
t between
the load
of the
0~100 20 % 0x0252 Immediately
motor
with 1
full
Pn252 closed
loop
rotation
Set the coefficient processing of the deviation between the motor and the load after the motor runs for
1 revolution. For example, if this parameter is set to 0%, the deviation will be 1000 after 1 revolution,
and the deviation will be accumulated on the basis of 1000 at the beginning of the second revolution,
and set to 20% , The deviation is accumulated on the basis of 200 (1000× 20%=200) at the beginning
of the second run.
If this value is set too large, it may not be able to detect Er.d10 normally. It needs to be set according
to the allowable error of the installation between the load and the motor.
External
grating 0x0253 After
4~1048576 32768 Pulse/r
ruler 0x0254 repower
Pn253 resolution
Set the motor to run for one revolution and the resolution of the external grating ruler (after 4 times the
frequency).
Motor-
load
deviation 0~10737418 0x0257
Pn257 1000 unit Immediately
is too 24 0x0258
large
setting

In position control, the upper device can receive the positioning approach signal before confirming the
positioning completion signal to prepare for the action sequence after the positioning is completed,
which can shorten the time required for the action when the positioning is completed, the command
pulse number of the host device and the servo The signal is output when the difference of the motor
movement amount (position deviation) is lower than the set value.
Position
1~107374182 Command 0x0260
near signal 1073741824 Immediately
4 unit 0x0261
width
In the position control, the host device can receive the positioning proximity signal before confirming
Pn260
the positioning completion signal, so as to prepare for the sequence of actions after the positioning is
completed and shorten the time required for the positioning to complete the operation, The signal will
be output as the difference between the command pulse number of the host device and the servo
motor movement (position deviation) is lower than the set value
Positioning
0~107374182 Command 0x0262
completion 7 Immediately
4 unit 0x0263
range
Pn262 In the position control, the servo motor positioning completion signal will be output when the difference
between the command pulse number from the host device and the servo motor movement amount
(position deviation) is lower than the set value that means the host device confirming positioning has
been completed.
Maximum
position 1~107374182 Command 0x0264
5242880 Immediately
deviation 3 unit 0x0265
Pn264 threshold
When the motor operation does not match the instruction, by setting the appropriate Pn264 (maximum
position deviation threshold), an abnormal condition can be detected and the motor can be stopped.
Excessive
position
deviation 10~100 100 % 0x0266 Immediately
warning
Pn266 setting
This parameter is used to set the position deviation excessive warning threshold. When the position
deviation is greater than the product of the Pn264 (maximum position deviation threshold) and this
parameter, an excessive position deviation warning will be generated.
Position
Deviation
Alarm
1~107374182 Command 0x0267
Threshold 5242880 Immediately
3 unit 0x0268
when the
Pn267 Servo is
ON
This parameter is used to set the threshold for excessive position deviation alarm at the moment of
servo ON. When the servo is ON, if the position deviation value exceeds this setting value, an
excessive servo deviation alarm will be generated when the servo is ON.
Position
Deviation
Warning
Threshold 10~100 100 % 0x0269 Immediately
when the
Pn269 Servo is
ON
This parameter is used to set the warning threshold for excessive position deviation at the servo ON
moment. When the servo is turned ON and the position deviation is greater than the product of
“Excessive position deviation warning threshold at servo ON” and the parameter, the warning will be
generated when the servo is ON.
speed limit
value
when the 0~10000 10000 rpm 0x0270 Immediately
Servo is
Pn270 ON
If the servo is turned ON with the position deviation accumulated, the speed limit is executed by this
parameter. When the command pulse is input in this state, the alarm Er.D02 (Excessive position
deviation alarm caused by speed limit during servo ON) is displayed when the set value of Pn264
(maximum position deviation threshold) is exceeded.
Position
deviation 0x00~0x03 0 － 0x0272 After restart
clear mode
Set the clear mode of the switch position deviation clear signal (/CLR):
0- Cleared when level is ON
Pn272 1- Cleared when the rising edge OFF->ON
2-Cleared when level is OFF
3- Cleared when the falling edge ON->OFF
Position
deviation
removal 0x00~0x02 0 － 0x0273 After restart
method
selection
Set the deviation removal method:
0- Servo OFF, Alarm and /CLR Signal Position Deviation can be cleared
Pn273
1-/CLR signal position deviation can be cleared
2-Alarm and /CLR signal position deviation can be cleared
Note: 1. For details on the pulse amplitude of the clear signal, refer to the description of “Deviation
Clearance”.
2. In the position control, the position deviation remains unchanged when the servo motor stops
due to the travel limit.
Positioning
completion
0x00~0x02 0 － 0x0274 After restart
signal
output time
Set the deviation removal method:
0- Servo OFF, Alarm and /CLR Signal Position Deviation can be cleared
Pn274
1-/CLR signal position deviation can be cleared
2-Alarm and /CLR signal position deviation can be cleared
Note: 1. For details on the pulse amplitude of the clear signal, refer to the description of “Deviation
Clearance”.
2. In the position control, the position deviation remains unchanged when the servo motor stops
due to the travel limit.
10.4 Speed Related Pn3 Group Parameters

Function Paramete Communication When
Range Default Unit
code r address enabled
0.01V
Analo 150 Immediatel
Pn300 600 / Rated 0x0300
g speed ~3000 y
speed

command
gain
This parameter is used to set servo motor speed that should be equal to analog
voltage value (V-REF) required for the speed command of the rated value.
Caution: Do not apply more than -10~10V and exceeding this range may cause
damage to the driver.
Analo
g speed Immediatel
0~1 0 - 0x0301
command y
negation
Pn301 Set the voltage polarity of the analog speed command:
0-Positive polarity: positive voltage corresponds to positive speed command
1- Negative polarity: positive voltage corresponds to negative speed command
Analo
g speed
0~6 0.4 Immed
instructio ms 0x0302
55.35 0 iately
n filter
Pn302 time
The function could be set to smooth the speed command when one delay filter is
applied to the analog speed command (V-REF) input and it does not usually need to be
changed. If the set value is too large, the responsiveness may decrease. Please set this
parameter while confirming the response.
Analo
g speed
command Immed
0~3 0 V 0x0303
dead iately
zone
Pn303 range
In the analog speed control, even if the input command is 0V, the servo motor may
rotate at a slight speed. This is because there is a slight deviation in the commands inside
the servo unit. This error can be eliminated by setting an appropriate analog speed
command deadband range.
Intern 0~1 Immed
100 rpm 0x0304
al speed 1 0000 iately
Intern 0~1 Immed
200 rpm 0x0305
Intern 0~1 Immed
300 rpm 0x0306
Pn304
Pn305 When operating in the internal speed mode, the servo unit provides three internal
Pn306 speed commands and through Switch Internal Speed Command Selection A and B we
could select as follow:
/SPD-A /SPD-B speed command
OFF OFF Zero Speed
OFF ON Internal speed 1
ON ON internal speed 2
ON OFF Internal Speed 3
Speed
command
trapezoid 0~1 Immediatel
0 ms 0x0310
al 0000 y
Pn310 accelerati
on time
Acceleration of the set speed from 0r/min to the rated speed (corresponding to the motor
model). When the given speed is greater or less than the rated speed, the actual
acceleration time is calculated in proportion.
Speed
0~1 Immediatel
Pn311 command 0 ms 0x0311
0000 y
trapezoid
al
decelerati
on time
Acceleration time of the set speed from 0r/min to the rated speed (corresponding to
the motor model). When the given speed is greater or less than the rated speed, the actual
acceleration time is calculated in proportion.
Zero
speed Immed
0~3 3 - 0x0312
clamp iately
mode
Speed mode, setting the switching speed zero clamp signal (/ZCLAMP) working
mode:
Pn312 0-Invalid
1-speed command is set to 0, not clamped after shutdown
2-speed command is set to 0, clamped after shutdown
3-speed command is lower than "zero speed clamp speed threshold"( Pn313), the first
speed command is set to 0, clamped after shutdown
Zero
Speed
0~1 Immed
Clamp 10 rpm 0x0313
0000 iately
Pn313 Speed
Threshold
Set the zero control switching threshold when "zero speed clamp mode"( Pn312) is
set to 3
Rotati
on
1~1 Immed
determina 20 0x0317
0000 iately
Pn317 tion
threshold rpm
When the motor speed is higher than the set value, the switch rotation detection signal
(/TGON) is output.
Spee
d 0~1 Immed
10 0x0320
consisten 00 iately
Pn320
t range rpm
When the difference between the motor speed and the command speed is lower than
the set value, the switch-speed match signal (/V-CMP) would be output.
10.5 Torque Related Pn4 Group Parameters

Functio Para Rang De Communicati When
Unit
n code meter e fault on address enabled
Torq
ue
Immed
comman 0~1 1 - 0x0400
iately
d
selection
Pn400
Select the torque control command source:
0-Internal settings
1- Analog input
Torq
ue
comman
d
100~ 50 Immed
Pn401 second- Hz 0x0401
5000 00 iately
order
low-pass
filter cut-
off

frequenc
y
This parameter is used to set the cut-off frequency of the second-order torque filter.
When this parameter is set to 5000, the filter function is invalid.
Torq
ue
comman
d 0.5 Immed
0.5~1 1 0x0402
second- 0 iately
Pn402 order
low-pass
filter Q
This parameter is used to set the Q value of the second-order torque filter.
Increasing the Q value can improve the system response, but noise will be generated
when the setting is too large.
Torq
ue
comman Immed
0~1 0 - 0x0403
d iately
direction
setting
Set the switching torque command direction selection (/T-SIGN) signal to activate
Pn403 the switch:
0 - Torque command direction selection (/T-SIGN) signal is invalid
1- Torque command direction selection (/T-SIGN) signal is valid
Note: Torque command is invalid when /T-SIGN is valid, torque command is positive
when /T-SIGN signal is ON, and torque command is negative when /T-SIGN signal is
OFF.
Anal
og
torque 0~65 0.0 Immed
ms 0x0404
comman 5.35 0 iately
d filter
Pn404 time
The parameter is used to smooth the torque command when we apply a delay filter
to the analog torque command (T-REF) input, usually it does not need to be changed. If
the set value is too large, the responsiveness may decrease. So please set it up as we
check the response.
Anal
0.1V/
og
10~1 rated Immed
torque 30 0x0405
00 torq iately
comman
ue
Pn405 d gain
This parameter is used to set the analog voltage value (T-REF) required for the
rated torque of the servo motor.
Caution: Do not apply more than -10~10V, exceeding this range may cause damage
to the driver.
Anal
og
torque Immed
0~1 0 - 0x0406
comman iately
d
Pn406 negation
The analog voltage corresponds to the polarity setting of the torque command:
0-Positive polarity: Positive voltage corresponds to positive torque command
1-Negative polarity: Positive voltage corresponds to negative torque command
Anal
og Immed
Pn407 0~3 0 V 0x0407
torque iately
comman

d dead
zone
range
In analog torque control, even if the input command is 0V, the servo motor may
rotate at a slight speed. This is because a slight deviation occurs in the command inside
the servo unit. This error can be eliminated by setting an appropriate analog torque
command deadband range.
Inter
nal
torque
- Immed
comman 0 % 0x0410
500~500 iately
Pn410 d in
torque
control
The command source for selecting the torque control is the torque command size
setting for internal setting.
Spee
d control
mode After
0~1 1 - 0x0411
setting in restart
torque
Pn411
control
0- select the lower one between the speed corresponding to the analog voltage (V-
REF) and the speed set by Pn413
1-select the speed set by Pn413
Spee
0x00 After
d limit 0 － 0x0412
~0x01 restart
selection
Pn412 0-motor maximum speed (determined by internal part of the motor model) + torque
mode speed limit (Pn411)
1- Overspeed detection alarm speed (determined by internal part of the motor
model) + torque mode speed limit (Pn411)
Spee
d limit in 0~10 10 Immed
rpm 0x0413
torque 000 00 iately
Pn413 control
This parameter is used to set speed limit in torque control with Pn411
Inte
rnal
torque
control
0 ～ Immed
command 100 ms 0x0415
Pn415 30000 iately
smooth
acceler
ation
time
Internal torque control command smooth acceleration time
Inte
rnal
torque
control
0 ～ Immed
command 100 ms 0x0416
Pn416 30000 iately
smooth
deceler
ation
time
Internal torque control command smooth deceleration time
Targ
et
torque 0.0 ～ Immed
100 - 0x0420
Pn420 reaches 500.0 iately
the set
value
Target torque reaches the set value
Targ
et
torque 0～ Immed
5 ms 0x0422
Pn421 arrival 1000 iately
time
window
Target torque arrival time window
10.6 Jogging Related Parameters

Functi Paramet Whe
Rang D Communica
on code er Unit n
e efault tion address
enabled
JOG 0~100 5 Imm
Pn500 rpm 0x0500
speed 0 00 ediately
Program
JOG 0x00~ Imm
0 － 0x0502
operation 0x05 ediately
mode
0-(waiting time->forward motion)*number of cycles
1-(waiting time->backward motion)*number of cycles
2-(waiting time->forward motion)*number of cycles->(waiting time->backward
Pn502
motion)*number of cycles
3-(waiting time->backward motion)*number of cycles->(waiting time->forward
motion)*number of cycles
4-(waiting time->forward motion->waiting time->backward motion)*number of cycles
5-(waiting time->backward motion->waiting time ->forward motion)*number of cycles
Program
1~107 3 Comm Imm
JOG moving 0x0503
3741824 2768 and unit ediately
Pn503 distance
Set the JOG movement distance of the running program as the command unit
Program
JOG
2~100 1 Imm
acceleration/ ms 0x0505
00 00 ediately
decelerat-
Pn505 ion time
Set the time of accelerating from 0r/min to the rated speed (corresponding to the
motor model). When the set speed is greater or less than the rated speed, calculate the
actual acceleration/deceleration time according to the ratio.
Program
0~100 1 Imm
Pn506 JOG waiting ms 0x0506
00 00 ediately
time
Set the waiting time between JOG sections of the running program in conjunction with
the program JOG operation mode (Pn502)
Program
JOG 0~100 Imm
1 回 0x0507
movement 0 ediately
times
Pn507
Set the movement times of the running program in conjunction with JOG operation
mode (Pn502)
Note: it is infinite when set to 0
Program
JOG 1~100 5 Imm
Pn508 rpm 0x0508
movement 00 00 ediately
speed
10.7 Switch Configuration Related Pn6 Group Parameters

Function Defa Communication When
code ult address enabled
Digital
input
After
signal 0~1 1 - 0x0600
restart
distributio
n mode
Pn600 Set the binary input signal distribution method:
0-Internal fixed: used by pins and functions fixed inside the servo unit. See “CN1
terminal” for details.
1-parameter configuration: It is used according to the function configured on each pin
and is configured and used by function code Pn601~Pn609
CN1-
40 input After
0~0x114 0x01 - 0x0601
configurat restart
ion
CN1-
42 input After
0~0x114 0x02 - 0x0602
configurat restart
ion
CN1-
43 input After
0~0x114 0x03 - 0x0603
configurat restart
ion
CN1-
Pn601 41 input After
Pn602 0~0x114 0x05 - 0x0604
configurat restart
Pn603 ion
Pn604
CN1-
Pn605
44 input After
Pn606 0~0x114 0x04 - 0x0605
configurat restart
Pn607
ion
Pn608
CN1-
Pn609
45 input After
0~0x114 0x06 - 0x0606
configurat restart
ion
CN1-
46 input After
0~0x114 0x07 - 0x0607
configurat restart
ion
CN1-
39 input After
0~0x114 0x00 - 0x0608
configurat restart
ion
CN1- After
0~0x114 0x00 - 0x0609
38 input restart

configurat
ion
0x00: invalid
0x01: Servo enable 0x101: Servo enable reverse
0x02: Positive limit 0x102: Positive limit release
0x03: Negative limit 0x103: Negative limit release
0x04: Alarm clearing 0x104: Alarm clearing inverted
0x05: Manual PI-P control 0x105: Manual PI-P control reverse
0x06: Torque limit switch 0x106: Torque limit switch reverse
0x07: reserved 0x107: reserved
0x08: Internal speed command direction selection 0x108: Internal speed
command direction selection D reverse
0x09: Internal speed command selection A 0x109: Internal speed
command selection A is reversed
0x0A: Internal speed command selection B 0x10A: Internal speed
command selection B is reversed
0x0B: Control mode switch 0x10B: Control mode switch reverse
0x0C: Zero-speed clamp 0x10C: Zero-speed clamp reverse
0x0D: Command pulse prohibited 0x10D: Command pulse prohibited
inversion
0x0E: Gain switching 0x10E: Gain switching reverse
0x0F: Torque command direction selection 0x10F: Torque command
direction selection reverse
0x10: Command pulse ratio switch 0x110: Command pulse ratio
switch reverse
0x12: Motor over temperature input 0x112: Motor over temperature input
inverted
0x16: Internal position command trigger 0x116: Internal position command trigger
inversion
0x17: Internal position command selection bit0 0x117: Internal position command
selection bit0 inverted
0x1A: Internal position command selection bit3 0x11A: Internal position command
selection bit3 reverse
0x1B: Internal position command selection bit4 0x11B: Internal position command
0x1C: Zero point return enable 0x11C: Zero point return enable
reverse
0x1D: Origin signal 0x11D: Origin signal reverse
0x1E: Forward jog 0x11E: Forward jog reverse
0x1F: Negative jog 0x11F: Negative jog
0x20: Internal position stop bit 0x120: Internal position stop bit
inverted
0x21: The capture function is enabled 0x121: The capture function is
enabled
Switc
h input
After
internal 0~0x114 0x00 - 0x0610
restart
configurat
ion 1
Switc
Pn610 h input
After
Pn611 internal 0~0x114 0x00 - 0x0611
restart
Pn612 configurat
ion 2
Switc
h input
After
internal 0~0x114 0x00 - 0x0612
restart
configurat
ion 3

0x00: invalid
0x01: Servo enable 0x101: Servo enable reverse
0x02: Positive limit 0x102: Positive limit release
0x03: Negative limit 0x103: Negative limit release
0x04: Alarm clearing 0x104: Alarm clearing inverted
0x05: Manual PI-P control 0x105: Manual PI-P control reverse
0x06: Torque limit switch 0x106: Torque limit switch reverse
0x07: reserved 0x107: reserved
0x08: Internal speed command direction selection 0x108: Internal speed
command direction selection D reverse
0x09: Internal speed command selection A 0x109: Internal speed
command selection A is reversed
0x0A: Internal speed command selection B 0x10A: Internal speed
command selection B is reversed
0x0B: Control mode switch 0x10B: Control mode switch reverse
0x0C: Zero-speed clamp 0x10C: Zero-speed clamp reverse
0x0D: Command pulse prohibited 0x10D: Command pulse prohibited
inversion
0x0E: Gain switching 0x10E: Gain switching reverse
0x0F: Torque command direction selection 0x10F: Torque command
direction selection reverse
0x10: Command pulse ratio switch 0x110: Command pulse ratio
switch reverse
0x12: Motor over temperature input 0x112: Motor over temperature input
inverted
0x16: Internal position command trigger 0x116: Internal position command trigger
inversion
0x1A: Internal position command selection bit3 0x11A: Internal position command
selection bit3 reverse
0x1B: Internal position command selection bit4 0x11B: Internal position command
0x1C: Zero point return enable 0x11C: Zero point return enable
reverse
0x1D: Origin signal 0x11D: Origin signal reverse
0x1E: Forward jog 0x11E: Forward jog reverse
0x1F: Negative jog 0x11F: Negative jog
0x20: Internal position stop bit 0x120: Internal position stop bit
inverted
0x21: The capture function is enabled 0x121: The capture function is
enabled
CN1-25, 26
output 0x00
0~0x109 - 0x0613 After restart
configurat 0
ion
CN1-27, 28
Pn613
output 0x00
Pn614 0~0x109 - 0x0614 After restart
configurat 1
Pn615
ion
CN1-29, 30
output 0x00
0~0x109 - 0x0615 After restart
configurat 2
ion

0x00: Servo ready 0x100: Servo ready signal inverted
0x01: Positioning completed 0x101: Positioning completed signal
reversed
0x02: Speed consistent 0x102: Speed consistent signal
reverse
0x03: Rotation detection signal 0x103: Reverse rotation detection
signal
0x04: In the torque limit, 0x104: Invert the signal in the
torque limit
0x05: In the speed limit, 0x105: Invert the signal in the
speed limit
0x06: Brake interlock 0x106: The brake interlock signal is
reversed
0x07: Warning 0x107: Reverse warning signal
0x08: Positioning proximity signal 0x108: Positioning proximity signal
inverted
0x09: Command pulse input ratio switching signal 0x109: Command pulse input
ratio switching signal reverse
0x0A: Torque reaches output 0x10A: Torque reaches output
reverse
0x11: Return to origin complete signal 0x111: Invert the complete signal of
origin return
Functi
on 0x00~0 After
0 － 0x0622
selection x11 restart
switch
Pn622 Function selection switch:
0x1#: High binary output alarm output (ALM) signal is valid
0x0#: Low binary output alarm output (ALM) signal is valid
0x#1: Check out warning
0x#0: Not check out warning
SI
terminal
0～ m
Pn623 input 0 0x0623
32767 s
filter
time
10.8 Pn7 Expansion Related Parameters
Function Communicati When

code on address enabled
Inertia recognition
0.2～20.0 2 r 0x0702 Immediately
movable range
Pn702
The number of rotations of the motor during the inertia identification
process
Initial value of inertia
0～20000 0 % 0x0705 Immediately
Pn705 identification
Initial value setting of inertia identification
Vibration detection
level in inertia
0～5000 0 r/min 0x0705 Immediately
Pn706 identification
(rotation)
Vibration detection level setting in inertia identification
No motor test function After
Pn730 0x00～0x01 0 － 0x0730
selection repower

The motorless test function is a function that does not start the motor,
simulates the action of the motor inside the servo unit, and confirms the
action of the upper device and peripheral equipment. Through this function,
you can confirm the wiring, verify the parameter value, and verify the
system debugging failure. , Thereby shortening the setting work time and
avoiding mechanical damage caused by wrong actions. When running without
the motor test function, the action of the motor can be confirmed
regardless of whether the motor is connected or not.
0-invalid 1-valid
Encoder resolution
After
selection without motor 0～3 1 － 0x0731
repower
test function
When the motorless test mode is selected, the motor encoder resolution
Pn731
setting:
0-13 bit 1-17 bit 2-20 bit 3-23 bit
Note: When the encoder is actually connected, use the resolution of the
actual encoder.
Encoder type selection
After
without motor test 0x00～0x01 0 － 0x0732
repower
function
Pn732
Set the encoder type without motor test function:
0-incremental encoder 1-absolute encoder
Absolute encoder After

0～2 0 － 0x0792
operation repower
0-No action
1- Write motor parameters into encoder EEPROM
2-Clear the number of multi-turn encoder turns: The battery is
Pn792 replaced/plugged during the first use or the drive is powered off, and the
encoder backup alarm (Er.810) will be reported when the power is turned on.
This parameter is set to 2, and only after power on again Clear.
3-Clear encoder alarm only: When the encoder alarm (Er.810, Er.860,) can
set this parameter to 3 to clear the encoder alarm but not the encoder
multi-turn value, and keep the current position of the motor.
Multi-turn absolute 0～ After
0 Unit 0x0792
encoder zero offset 2147483647 repower
Pn798
Multi-turn absolute encoder zero offset position setting
Minimum software limit
−2147483648～ −21474 After
absolute position (32 Unit 0x079A
2147483647 83648 repower
bits)
Pn79A
The minimum software limit absolute position setting, when the absolute
position of the motor (UN021) is less than this position, the servo will
enter the limit alarm state
Maximum software limit
−2147483648～ −21474 After
Pn79C absolute position (32 Unit 0x079C
2147483647 83648 repower
bits)

Maximum software limit absolute position, when the absolute position of the
motor (UN021) is greater than this position, the servo will enter the limit
alarm state
Software limit absolute
0～1 0 N/A 0x079E Immediately
position switch
Pn79E
Software limit absolute position switch setting:
0：off 1: on
-32768～
Encoder overflow times 0 N/A 0x07A0 Immediately
Pn7A0 32767
Record the overflow times of multi-turn absolute encoder
Blocked-rotor overload After
0～100 8 N/A 0x07A1
protection time percentage repower
This parameter sets the percentage of time that the motor will report
Pn7A1
overload after the motor is blocked. If it is set too large, the drive may
be damaged. To protect the safety of the drive, please change this value
under the guidance of the manufacturer's technical support.
10.9 Pn8 group internal position/origin return parameters

Communic
Functio When
Parameter Range Default Unit ation
n code enabled
address
Return to
Immediat
origin control 0～0xFFFFFFFF 0x0 - 0x0800
Pn800 word ely
Home return control word mode setting, see Chapter 8 for details
Zero position -2147483648～ Immediat
0 Unit 0x0802
Pn802 offset value 2147483647 ely
Zero position offset position setting
Pr1 control Immediat
0～0x80000000 0x0 － 0x0804
Pn804 word ely
The first position setting, see Chapter 8 for details
Pr1 pulse -2147483648～ Immediat
0 Unit 0x0806
Pn806 number 2147483647 ely
Set the position of the first paragraph
0～0x80000000 0x0 － 0x0808
Pn808 word ely
Like Pn804
Pr2 pulse -2147483648～ After
0 Unit 0x0810
Pn80A number 2147483647 repower
2nd position setting
Pr3 control After
0～0x80000000 0x0 － 0x080C
Pn80C word repower
Like Pn804
Pn80E 0 Unit 0x080E
number 2147483647 ely

3rd position setting

Immediat
Pr4control word 0～0x80000000 0x0 － 0x0810
Pn810 ely
Like Pn804
0 Unit 0x0812
4th position setting
Immediat
Pn814 ely
Like Pn804
0 Unit 0x0816
Immediat
Pn818 ely
Like Pn804
0 Unit 0x081A
Pn81A number 2147483647 ely
Immediat
Pr7control word 0～0x80000000 0x0 － 0x081C
Pn81C ely
Like Pn804
0 Unit 0x081E
Pn81E number 2147483647 ely
Immediat
Pn820 ely
Like Pn804
0 Unit 0x0822
Immediat
Pn824 ely
Like Pn804
0 Unit 0x0826
Pn826
Pr10control Immediat
0～0x80000000 0x0 － 0x0828
word ely
Pn828
Like Pn804

0 Unit 0x082A

Pr11control Immediat
0～0x80000000 0x0 － 0x082C
Pn82C word ely
Like Pn804
0 Unit 0x082E
0～0x80000000 0x0 － 0x0830
Pn830 word ely
Like Pn804
0 Unit 0x0832
0～0x80000000 0x0 － 0x0834
Pn834 word ely
Like Pn804
0 Unit 0x0836
0～0x80000000 0x0 － 0x0838
word ely
Pn838
Like Pn804

0 Unit 0x083A
Pn83A
0～0x80000000 0x0 － 0x083C
Pn83C word ely
Like Pn804

0 Unit 0x083E
Pn83E

0～0x80000000 0x0 － 0x0840
word ely
Pn840
Like Pn804

0 Unit 0x0840

0～0x80000000 0x0 － 0x0844
Pn844 word ely
Like Pn804


0 Unit 0x0846
0～0x80000000 0x0 － 0x0848
Pn848 word ely
Like Pn804
0 Unit 0x084A
0～0x80000000 0x0 － 0x084C
Pn84C word ely
Like Pn804
0 Unit 0x084E
0～0x80000000 0x0 － 0x0850
word ely
Pn850
Like Pn804

0 Unit 0x0852
0～0x80000000 0x0 － 0x0854
Pn854 word ely
Like Pn804
0 Unit 0x0856
0～0x80000000 0x0 － 0x0856
Pn858 word ely
Like Pn804
0 Unit 0x085A
0～0x80000000 0x0 － 0x085C
Pn85C word ely
Like Pn804
0 Unit 0x085E
0～0x80000000 0x0 － 0x0860
word ely
Pn860
Like Pn804


0 Unit 0x0862
0～0x80000000 0x0 － 0x0864
Pn864 word ely
Like Pn804
0 Unit 0x0866
0～0x80000000 0x0 － 0x0868
word ely
Pn868
Like Pn804

0 Unit 0x086A
0～0x80000000 0x0 － 0x086C
Pn86C word ely
Like Pn804
0 Unit 0x086E
0～0x80000000 0x0 － 0x0870
Pn870 word ely
Like Pn804
0 Unit 0x0872
0～0x80000000 0x0 － 0x0874
Pn874 word ely
Like Pn804
0 Unit 0x0876
0～0x80000000 0x0 － 0x0878
Pn878 word ely
Like Pn804
0 Unit 0x087A
0～0x80000000 0x0 － 0x087C
Pn87C word ely
Like Pn804

0 Unit 0x087E
Pr Acc and dec Immediat
0～60000 50 ms 0x0880
Pn880 time 0 ely
Acc and dec time setting0
0～60000 200 ms 0x0881
Pn881 time 1 ely
Acc and dec time setting 1
0～60000 300 ms 0x0882
Pn882 time 2 ely
0～60000 400 ms 0x0883
Pn883 time 3 ely
0～60000 500 ms 0x0884
Pn884 time4 ely
0～60000 600 ms 0x0885
Pn885 time 5 ely
0～60000 700 ms 0x0886
Pn886 time 6 ely
0～60000 800 ms 0x0887
Pn887 time 7 ely
Pr target speed Immediat
0～6000 100 r/min 0x0888
Pn888 0 ely
target speed 0 setting
0～6000 200 r/min 0x0889
Pn889 1 ely
0～6000 500 r/min 0x088A
Pn88A 2 ely
0～6000 1000 r/min 0x088B
Pn88B 3 ely
0～6000 1500 r/min 0x088C
Pn88C 4 ely
Pn88D 0～6000 2000 r/min 0x088D
5 ely
11 Monitoring Parameters

0～6000 2500 r/min 0x088E
Pn88E 6 ely
0～6000 3000 r/min 0x088F
Pn88F 7 ely
Immediat
Pr delay time0 0～6000 0 0.1s 0x0890
Pn890 ely
Delay time0 setting
Immediat
Pr delay time 1 0～6000 1 0.1s 0x0891
Pn891 ely
Delay time 1 setting
Immediat
Pr delay time 2 0～6000 5 0.1s 0x0892
Pn892 ely
Immediat
Pr delay time 3 0～6000 10 0.1s 0x0893
Pn893 ely
Immediat
Pr delay time 4 0～60000 100 0.1s 0x0894
Pn894 ely
Delay time4 setting
Immediat
Pr delay time 5 0～60000 1000 0.1s 0x0895
Pn895 ely
Monitoring Monitoring name

range unit mailing address
code
Motor rotation speed 0x80000000~0x7fffffff rpm 0xE000
Un000
Display the actual speed of the servo motor
Speed command 0x80000000~0x7fffffff rpm 0xE001
Un001
Display the current speed command of the servo motor
Note: When it is not enabled, this value shows the analog speed (corresponding to V-REF)
Internal torque command 0x80000000~0x7fffffff % 0xE002
Un002
Display current actual torque command with servo motor rated torque as 100%
Rotor pulse position
0x80000000~0x7fffffff pulse
Un003 relative to the Z axis 0xE003
Shows the mechanical absolute position of the motor within one revolution of the encoder
Electrical angle 0x80000000~0x7fffffff ° 0xE004

Un004
Displays the electrical angle of the current position of the servo motor rotor
Speed of input pulse
0x80000000~0x7fffffff rpm
Un005 command 0xE005
Display input position pulse command speed
Counter of input command Command
0x80000000~0x7fffffff
Un006 pulse Unit 0xE006
Displays the number of command pulses received by the servo motor
Command
Un007 Counter of feedback pulse Unit 0xE007
Displays cumulative pulses fed back from the servo motor encoder
Counter of feedback pulse Encoder
Un008 1 pulse unit 0xE008
Displays cumulative pulses fed back from the servo motor encoder
Command
Position deviation Unit 0xE009
Un009
Display the difference between the command pulse number of the upper device and the servo motor
movement amount
Absolute encoder 0x80000000～ Encoder
0xE010
Un010 single-turn value 0x7FFFFFFF unit
Display the absolute position value of one-turn of the absolute encoder.
Absolute encoder 0x80000000～
- 0xE011
multi-turn value 0x7FFFFFFF
Un011 Displays the number of multi-turn encoder turns value when the multi-turn
encoder is used. After the multi-turn encoder reset operation is
performed, the value is 0.
External encoder External
0x80000000～
feedback pulse encoder 0xE012
0x7FFFFFFF
Un012 counter unit
Display external encoder feedback pulse counter when external grating
encoder is connected.
Motor absolute 0x80000000～ command
0xE021
Un021 position 0x7FFFFFFF unit
Display the absolute position of the motor, the unit is the command unit
Un00A Cumulative load rate 0x80000000~0x7fffffff % 0xE00A
Un00B Regeneration load rate 0x80000000~0x7fffffff % 0xE00B
Electricity consumption of
Un00C 0x80000000~0x7fffffff %
DB resistance 0xE00C
Un00D Effective gain monitoring 1~2 － 0xE00D
Un00E Total running time 0~0xFFFFFFFF 100ms 0xE00E
Un00F Overload rate 0~0xFFFFFFFF % 0xE00F
Un035 DSP software version 0~0xFFFF - 0xE035
Un036 FPGA software version 0~0xFFFF - 0xE036
Encoder
Un087 communication 0～0xFFFF - 0xE087
abnormal times
Un089 Heat sink temperature 0~0xFFFF ℃ 0xE090
Un091 Motor temperature 0～0xFFFF ℃ 0xE091

IO port input signal
0~0xFFFF － 0xE100
monitoring
Signal name
Un100 Input pin (Factory
LED LED Input pin number
number configuration
)
1 CN1-40 /S-ON 6 CN1-45
2 CN1-41 /P-CON 7 CN1-46
3 CN1-42 P-OT 8 CN1-39
4 CN1-43 N-OT 9 CN1-38
5 CN1-44 /ALM-RST
IO port output signal

0~0xFFFF － 0xE101
monitoring
Up:OFF
Down:ON
9 8 7 6 5 4 3 2 1 Number
Un101
LED Input pin number

1 CN1-31/32
2 CN1-25/26
3 CN1-27/28
4 CN1-29/30
T-REF monitoring 0~0xFFFF % 0xE102

Un102
Corresponds to the T-REF input voltage, according to the analog torque command gain
V-REF monitoring 0~0xFFFF rpm 0xE103
Un103
Corresponds to the T-REF input voltage, according to the analog torque command gain
Pulse command input
Un104 0~0xFFFFFFFF Hz 0xE104
frequency
External input command Command
Un108 0~0xFFFFFFFF 0xE108
pulse counter Unit
Integrated monitoring of
Un110 0~0xFFFFFFFF － 0xE110
internal signal status
internal input signal status
internal output signal
Un140 Main circuit bus voltage 0~0xFFFF V 0xE140
Effective current feedback 0~0xFFFF 0.01A 0xE141
Un141
Three-phase synthetic feedback current effective value
D-axis current command
Un14B 0～0xFFFF % 0xE14B
monitoring
Torque command voltage
Un220 0～0xFFFF mv 0xE220
(uncorrected)
Torque command voltage
(after correction)
Speed command voltage
(uncorrected)
Speed command voltage
(after correction)
Un300 Current alarm code 0~0xFFFF － 0xE300
Un301 Last alarm code 0~0xFFFF － 0xE301
Timestamp while alarm
Un302 0~0xFFFFFFFF 100ms 0xE302
occurs
Motor speed while alarm
Un303 0~0xFFFF rpm 0xE303
occurs
Speed command while
alarm occurs
Internal torque command
Un305 0~0xFFFF % 0xE305
while alarm occurs
Input command pulse
speed while alarm occurs
Deviation counters
Un307 (position deviation)while 0~0xFFFFFFFF pulse 0xE307
alarm occurs
DC bus voltage while alarm
Un308 0~0xFFFF V 0xE308
occurs
Effective current feedback
Un309 0~0xFFFF % 0xE309
while alarm occurs
Cumulative load rate while
Un30A 0~0xFFFF % 0xE30A
alarm occurs
Regenerative load rate
Un30B 0~0xFFFF % 0xE30B
while alarm occurs
Electricity consumption of
Un30C DB resistance while alarm 0~0xFFFF % 0xE30C
occurs
Maximum cumulative load
Un30D 0~0xFFFF % 0xE30D
rate while alarm occurs
Rotation inertia ratio while
Un30E 0~0xFFFF % 0xE30E
alarm occurs
Abnormal times of serial
Un30F encoder communication 0~0xFFFF － 0xE30F
while alarm occurs
Internal signal monitoring
Un310 0~0xFFFFFFFF - 0xE310
while alarm occurs
Internal input signal
Un313 monitoring while alarm 0~0xFFFFFFFF - 0xE313
occurs

12 Fault Code and Countermeasures
Internal output signal
Un317 monitoring while alarm 0~0xFFFFFFFF - 0xE317
occurs
The number of serial
encoder
Un30F communication 0～0xFFFF － 0xE30F
abnormalities when
an alarm occurs
Un320 Fault code history 1 0~0xFFFF - 0xE320
Un330 Fault time history 1 0~0xFFFFFFFF 100ms 0xE330
12.1 Fault Code
Fault
Fault type Solutions
code
1. Enter the parameters again after initializing parameter settings,
Abnormal 2. Write the power level of the driver to 0 first, and then write the correct power
Er.020 parameter and level. Note: Remember to perform the current detection correction, analog
check input correction and bus voltage correction after writing the power level
3. servo driver failure, replace the servo drive
Parameter 1. Perform a soft reset. If the fault is still reported, write the driver's power level
formatting to 0 and then write the correct power level. Note: Remember to perform the
Er.021 exception current detection correction, analog input correction and bus voltage
(inconsistent correction after writing the power level
version number) 2. servo driver failure and replace the servo drive

1. Perform a soft reset. If the fault is still reported, write the driver's power level
Abnormal to 0 and then write the correct power level. Note: Remember to perform the
Er.022 system and current detection correction, analog input correction and bus voltage
check correction after writing the power level
2. servo driver failure and replace the servo drive
Abnormal
Er.030 detection in main 1. Servo driver fails, replace the servo driver
circuit
1. Check whether the changed parameters are out of range

Abnormal 2. Check if the setting of electronic gear ratio is within the setting range
Er.040 parameter (electronic gear ratio: 0.001~16777216/1000)
setting 3. Check whether the servo drive and servo motor capacity match
4. I/O terminal definition repeat
Abnormal
frequency According to the number of encoder bits, the number of encoder frequency
Er.041
division pulse division pulses is set to an appropriate value, see the specification
output setting
Abnormal
1. Make the setting value of electronic gear ratio within the setting range
Er.042 parameter
2. make the program JOG settings related to logic
combination
Abnormal setting
Er.044 of loop 1. Set the half closed loop / full closed loop parameters correctly
parameters
Unmatched drive
1. check if the driver power and motor power are correct
Er.050 and motor
2. replace the drive or motor so that it is within a reasonable range
capacity
Alarm caused by
product 1. Connect the function modules can not be supported by the product, please
Er.051
technical select the matching combination
support failure
Abnormal
distance setting
Er.080 corresponding to 1. Correctly set the distance corresponding to the unit pulse of the encoder
unit pulse of
encoder
Abnormal
resolution
Er.08A 1. Set the resolution of position sensor correctly
setting of
position sensor
Invalid servo ON
Er.0B0 Re-power on or perform a soft reset
command alarm
1. Check whether the motor phase sequence is wrong

2. Check whether the motor is damaged and use a multimeter to measure
whether U/V/W is short together.
Over-current
Er.100 3. Check the motor encoder angle is correct
fault
4. Monitor the UV phase current sampling AD value in the disabled state
through a virtual oscilloscope to determine whether it is a driver hardware
current sampling fault. Normally, it is near zero.

Braking 1. Correctly wire the external regenerative resistor.

Er.300 resistor 2. After troubleshooting the wiring, it may be a servo
failure drive problem, replace the servo drive
1. Check whether the bus voltage of the driver is within a reasonable range
when it is not enabled. If the bus voltage is detected incorrectly, there is a
possibility of accidental braking or accidental protection.
2. Confirm the brake resistor wiring is correct; see the instructions for details.
3. According to the load situation, consider the current choice of braking
resistor is appropriate; see the braking resistor selection rules for details.
Regeneration 4. If the wiring is correct, and the braking resistor is selected properly, and the
Er.320
overload operation still reports regenerative overload, you can monitor whether there is
a small drop when the bus voltage reaches the braking point during operation
by the host computer or the keyboard. If the bus voltage reaches the braking
point and it still rises smoothly, it can be judged that the brake pipe is
damaged.
5. If the fault is reported in the last operation, run after waiting for a while after
powering on.
Main circuit
Er.330 power wiring 1. Connect the main circuit power cord correctly
error
1. When the power supply voltage is not enabled, measure the power supply
voltage at the same time monitor whether the bus voltage (Un140) is 1.414
times of the input power voltage (AC RMS). If the deviation is large, it can be
determined as bus voltage detection hardware failure.
2. Measure the power supply voltage. If the power supply voltage is
adjustable, adjust the power supply voltage within the product specification
range. If it is not adjustable and the power supply voltage is in an unstable
state, you may consider installing a voltage regulator.
Er.400 Over-voltage
3, consider the operating conditions and load, determine the brake resistor
selection is reasonable (whether the resistance is too large), if the overvoltage
caused by frequent acceleration and deceleration, you may consider replacing
the brake resistor
4. there may be brake pipe damage, check the brake pipe
5. Make sure to guarantee that the motor is running at a tolerable moment of
inertia ratio and mass ratio
6, servo drive failure, replace the servo drive

1. check whether the power input terminal line is connected
2. When the power supply voltage is not enabled, measure the power supply
voltage at the same time monitor whether the bus voltage (Un140) is 1.414
times of the input power voltage (AC RMS). If the deviation is large, it can be
determined as bus voltage detection hardware failure.
3. Measure the power supply voltage. If the power supply voltage is
Er.410 Under-voltage
adjustable, adjust the power supply voltage within the product specification
range.
4. Measure the power supply voltage. If the power supply voltage is in an
unstable state, you may consider installing a voltage regulator.
5. if the power capacity is adjustable, you can advise customers to increase
in power capacity
1. Reduce motor load

Motor over
Er.42A 2. Strengthen motor heat dissipation
temperature
3. Check the motor over temperature signal circuit
1. Check whether there is any problem with the motor wiring and whether the
UVW three-phase connection is reversed.
2. Confirm that the encoder connection is abnormal.
Er.510 Over-speed
3. Check if the maximum speed setting in the motor parameters is correct
4. Check whether the input command exceeds the over-speed value
5. Reduce the servo gain or set a certain smoothing time
Divided pulse 1. Reduce the number of divided output pulses per revolution (Pn070)
Er.511
output speed 2. If the working conditions are allowed, you may reduce the motor speed
1. If the working conditions are allowed, you may reduce the motor speed or
reduce the speed loop gain.
Er.520 Vibration alarm 2. correctly set the rotary inertia ratio
3. properly set the vibration detection value (Pn187) and vibration detection
sensitivity (Pn186)
Abnormal
Er.550 maximum speed
setting
1. Check if the motor is stalled during operation
2. Check whether there is any problem with the motor wiring (phase
sequence, connection) and encoder wiring.
Overload 3. consider the operating conditions and load and determine if the driver or
Er.710 (instantaneous motor selection is reasonable
maximum load) 4. Observe whether there is large vibration in the running process of the motor.
If there is a large noise, adjust the gain parameter to eliminate noise or jitter.
At the same time, you can use the virtual oscilloscope to monitor whether the
motor output torque is abnormal or not.
1. Check whether there is any problem in the motor wiring (phase sequence
and connection) and encoder wiring.
Overload 2, consider the operating conditions and load and determine the driver or
Er.720 (continuous motor selection is reasonable
maximum load) 3. Observe whether the motor has large jitter during operation. If there is a
huge noise, adjust the gain parameter to eliminate noise or jitter. Also, use a
virtual oscilloscope to monitor whether the motor output torque is abnormal.

1. The load is too heavy when the machine stops that cause the overload of
DB resistor and you could try to reduce the operating speed or reduce the
load.
2. check whether the motor is driven by external force
Er.730 DB overload 1 3. according to customer needs, re-evaluate whether it needs to pass the DB
mode requirements during the shutdown, if you do not need, you can choose
other ways to stop
4. If the fault is reported in the last operation, run after waiting for a while after
powering on.
1. Reduce the command speed of servo motor.

Er.731 DB overload 2 2. Reduce the moment of inertia ratio.
3. Servo driver problem, replace servo
Inrush current
limiting
Er.740 1. The servo driver is faulty. Replace the servo driver
resistance
fault
1. Check whether the air duct is blocked and the fan is damaged with a fan
drive.
2. Check the installation conditions of the driver, whether the heat dissipation
Heat sink over- condition is good or not and increase the heat dissipation condition of the
Er.7A0
heat driver as much as possible.
3. Check the drive load conditions, if the load is too heavy, you can suggest
that customers replace a high-power segment of the drive.
4. If possible, reduce the driver carrier frequency
1. Improve the installation condition of servo driver and reduce the ambient
Abnormal
temperature.
Er.7AA temperature of
2. Reconfirm the load conditions and operation conditions.
control board
3. Servo driver failure, replace the servo driver.
The fan inside

1. Is there any foreign matter blocking the fan
Er.7AB the drive does
2. Servo driver failure, replace servo driver
not turn
Abnormal 1. Check the multi-turn encoder battery power condition

Er.810
encoder backup 2. Perform multi-turn encoder clear operation
Battery under-
Er.830 Replace multi-turn encoder battery
voltage
Encoder data is
Er.840 abnormal Encoder data is abnormal
Encoder
Er.850 overspeed Encoder overspeed
Encoder
temperature is 1. Reduce the motor load rate
Er.860
high 2. Strengthen the heat dissipation effect of the motor

CANopen node 1. Check if the slave is offline
Er.900 protection failure 2. Check whether the node protection time setting is
correct
CANopen 1. Check if the host is offline
Er.901 heartbeat 2. Check whether the heartbeat detection time matches the
detection timeout host heartbeat production time
Output UVW
Check whether the motor cable are connected well, or check the inverter
Er.A00 phase loss alarm
output voltage.
Unplug the power cable and turn on the servo unit again. If an alarm still
Hardware over-
Er.BF4 occurs, the servo unit may be malfunctioning, and then you could replace the
current
servopack. If not, confirm whether it is power line or motor failure
1. Check if the motor wiring is normal
Out of control 2. Check if the motor and encoder are normal
Er.C10
alarm 3. Re-connect the servo drive power, if an alarm still occurs, it may be a servo
drive failure
Encoder
communication 1. Use multimeter to test every signal line of the encoder line and see if signal
Er.C90
failure: line- lines break.
broken 2. Check the encoder line model and confirm the model is correct.
Abnormal 3. Check the length of the encoder line and the encoder line can not be too
encoder long.
Er.C91 communication 4. It may be caused by interference, try to ground the driver or wire the
position data encoder around the magnetic ring
acceleration 5. check the motor group parameters and confirm the motor is correct
Abnormal 6. If you already exclude various reasons and the servo driver may
Er.CA0 encoder malfunction, then you could consider replacing the servo unit.
parameters
1. Set the appropriate position deviation excessive alarm value
2. Check whether the encoder cable and motor cable are connected properly.
You can use the hand to rotate the motor and monitor whether the Un003
(rotor relative Z pulse position) varies between 0 and 16777216 (24-bit
encoder).
Excessive
3. Calculate the pulse frequency input and acceleration planning and check if
Er.D00 position
the electronic gear ratio setting is reasonable
deviation
4. Determine whether the relevant parameters are reasonable. For example:
you could check the torque limit, speed limit, inertia ratio, position gain, speed
gain is too small or the position filter is too large, etc.
5. Calculate if the motor selection is too small or the acceleration and
deceleration are too slow that cause huge position deviation.
Excessive
position
Er.D01 Set correct value of Pn267 (overrunning position deviation when servo is ON)
deviation during
servo ON
Excessive
position
deviation alarm Set correct Maximum position deviation threshold (Pn264) or set correct
Er.D02
caused by speed speed limit value (Pn270) during servo ON.
limit during
servo ON
Excessive
1. Confirm the rotation direction of the motor and the
deviation
installation direction of the external encoder
Er.D10 between motor
2. Check the mechanical installation.
and load
3. Set the parameter Pn250 to the correct value.
position

12.2 Warning Code
Warning code Type Solutions

1. Correctly set relevant parameters such as gear ratio, gain, position filtering,
torque limit, etc.
Excessive Position
AL.900 2. confirm the encoder line motor wiring is correct
deviation warning
3. If you already exclude various reasons, the servo driver may malfunction and
you could consider replacing the servo unit.
Excessive position
AL.901 deviation warning Set correct excessive position deviation value during servo ON
during servo ON
1. Check if there is any problem of the motor wiring and encoder wiring.
AL.910 Overload warning
2. Incorrect motor or driver selection
1. Reduce the motor speed or reduce the speed loop gain.
AL.911 Vibration warning
2. Set the moment of inertia ratio correctly
1. Set the power supply voltage within the specification range.
Regeneration
AL.920 2. Set resistance value and capacity correctly
overload warning
3. Replace the servo drive because of servo driver failure
1. Reduce the servo motor command speed.
AL.921 DB overload warning 2. Reduce the rotary inertia ratio.
3. Replace the servo drive because of servo driver failure
Battery under-voltage
AL.930 Replace the battery
warning
Parameter change
AL.941 warning needed to re- Power down the drive before restart it
power off
Under-voltage 1. Adjust the AC/DC power supply voltage to the product specifications.
AL.971
warning 2. increase the power capacity.
1. Connect the overtravel signal correctly
AL.9A0 Servo overtravel 2. Confirm the accuracy of the operating instructions of the
host computer device

13 Communication
13 Communication
13.1 Communication introduction
Servo driver can support RS485, CANopen bus type, EtherCAT bus type, MECHATROLINK-II bus type. Here
we mainly introduce the related content of general model RS485 communication. Other communication needs to
refer to the special communication manual. 485 communications can realize the following functions.
a) Read and write servo driver function code related parameters
b) Monitor the working status of the servo drive
c) Constitute a multi-axis control system
d) Operate the servo assist function
13.2 RS485 communication protocol description
Provide RS485 communication interface, the wiring is detailed in CN6, and the master-slave communication is
carried out by the international standard Modbus communication protocol. Users can achieve centralized control
through PC/PLC, control PC, etc. to suit specific application requirements.
The Modbus serial communication protocol defines the frame content and usage format for asynchronous
transmission in serial communication. These include: host polling and broadcast frame, slave response frame format;
host organization frame content includes: slave address (or broadcast address), execution commands, data and error
check. The response of the slave is also the same structure, including: action confirmation, return data and error
check. If the slave encounters an error while receiving a frame, or fails to complete the action requested by the host,
it will organize a fault frame as a response to the host.
The communication protocol is an asynchronous serial master-slave Modbus communication protocol. Only one
device (host) in the network can establish a protocol (called "query/command"). Other devices (slave) can only
respond to the host's "query/command" by providing data, or according to the host's "query/command". The host here
refers to a personal computer (PC), an industrial control device or a programmable logic controller (PLC), etc. The
slave refers to a servo drive or other control device having the same communication protocol. The host can
communicate with a slave separately and broadcast information to all slaves. For a host "query/command" that is
accessed separately, the slave must return a message (called a response). For the broadcast message sent by the
host, the slave does not need to feed back the response message to the host.
13.3 Communication frame structure
Modbus only supports RTU transmission mode. The user can configure the serial communication parameters
(baud rate, check mode, etc.).
Each 8Bit byte in the message frame contains two 4Bit hexadecimal characters.
Start bit Device address command data CRC check Terminator

T1-T2-T3-T4 8Bit 8Bit N 8Bit 16Bit T1-T2-T3-T4
In this mode, the message transmission starts at least at a pause interval of 3.5 characters. During transmission,
the network device continuously detects the network bus, including the pause interval. When the first field (address
field) is received, the corresponding device decodes the next transmitted character, and if there is a pause of at least
3.5 characters, it indicates the end of the message.
In RTU mode, the entire message frame must be transmitted as a continuous stream. If there is a pause time

13 Communication
of more than 1.5 characters before the frame is completed, the receiving device will refresh the incomplete message
and assume that the next byte is the address of a new message. area. Similarly, if a new message begins with the
previous message in less than 3.5 character times, the receiving device will consider it a continuation of the previous
message. If the above two situations occur during the transmission, the CRC check will inevitably generate an error
message and feed back to the sender device.
13.4 Command code and communication data description
In the communication command, the data address read and written is the hexadecimal number of the parameter
name, for example, the address of the inertia ratio Pn100 is 0x0100.
(1) Command code: 03H
Function: Read N words (Word can read up to 16 words in succession).
For example, if the servo drive with the slave address 01H reads the address e003 and reads two consecutive
words, the structure of the frame is described as follows.
Host command information:
START T1-T2-T3-T4（3.5 bytes of transmission time）

ADDR 01H
CMD 03H
Read start address high e0H
Read start address low 03H
high number of data (in word) 00H
low number of data is (in word) 02H
CRC CHK low bit 03H
CRC CHK high bit CBH
END T1-T2-T3-T4（3.5 bytes of transmission time）
The slave responds to the message:

ADDR 01H
CMD 03H
Number of bytes 04H
The high content of the starting data address
3AH
03F2H
Content status of the starting data address
9AH
03F2H
The content of the second data address
00H
03F3H is high
The lower content of the second data
05H
address 03F3H
CRC CHK low bit 16H
CRC CHK high bit C7H

13 Communication
(2) Command code: 10H
Function: Write N words (Word), N ≥ 2.
For example, write 100 to the 0100H address of the slave address 01H servo drive and 400 to the 0101H
address of the slave address 01H servo drive.
The structure of the frame is described as follows:
Host command information:
ADDR 01H
CMD 10H
Write data address high 01H
Write data address low 00H
The number of data is high (in word) 00H
Number of data status (calculated in word) 02H
Number of bytes 04H
The first word high of the data content 00H
The first word of the data content is low 64H
The second word high of the data content 01H
The second word of the data content is low 90H
CRC CHK low bit BEH
CRC CHK high bit 1CH
The slave responds to the message:
ADDR 01H
CMD 10H
Write data start address high 01H
Write data start address low 00H
The number of data is high (in word) 00H
Number of data status (calculated in word) 02H
CRC CHK low bit 40H
CRC CHK high bit 34H

13 Communication
13.5 Communication frame error check mode:
The error check mode of the frame mainly includes two parts of the check, that is, the bit check of the byte
(odd/even check) and the entire data check of the frame (CRC check or LRC check).
13.5.1 Byte Bit Check

Users can choose different bit verification methods as needed, or they can choose no parity, which will affect
the parity bit setting of each byte.
The meaning of even parity: an even parity bit is added before data transmission to indicate whether the number
of "1" in the transmitted data is odd or even. When it is even, the check position is "0", otherwise it is set. It is "1" to
keep the parity of the data unchanged.
The meaning of the odd check: an odd parity bit is added before the data transmission to indicate whether the
number of "1" in the transmitted data is odd or even. When it is odd, the check position is "0", otherwise it is set. It is
"1" to keep the parity of the data unchanged.
For example, you need to transfer "11001110", the data contains 5 "1", if you use even parity, its even parity bit
is "1", if you use odd parity, its odd parity bit is "0", transmission In the case of data, the parity bit is calculated at the
position of the check bit of the frame, and the receiving device also performs parity check. If the parity of the accepted
data is found to be inconsistent with the preset, it is considered that the communication has an error.
13.5.2 CRC check method --- CRC (Cyclical Redundancy Check)

Using the RTU frame format, the frame includes a frame error detection field calculated based on the CRC
method. The CRC field detects the contents of the entire frame. The CRC field is two bytes and contains a 16-bit
binary value. It is calculated by the transmission device and added to the frame. The receiving device recalculates
the CRC of the received frame and compares it with the value in the received CRC field. If the two CRC values are
not equal, the transmission has an error.
The CRC is first stored in 0xFFFF, and then a procedure is called to process the consecutive 6 or more bytes
in the frame with the values in the current register. Only the 8Bit data in each character is valid for the CRC, and the
start and stop bits as well as the parity bit are invalid.
During the CRC generation process, each 8-bit character is individually different from the register contents
(XOR), and the result moves to the least significant bit direction, and the most significant bit is padded with 0. The
LSB is extracted and detected. If the LSB is 1, the register is individually or different from the preset value. If the LSB
is 0, it is not performed. The entire process is repeated 8 times. After the last bit (bit 8) is completed, the next octet is
individually different from the current value of the register. The value in the final register is the CRC value after all the
bytes in the frame have been executed.
This calculation method of CRC adopts the international standard CRC check rule. When editing the CRC
algorithm, the user can refer to the CRC algorithm of the relevant standard to write a CRC calculation program that
truly meets the requirements.
13.6 Error message response
When the slave responds, it uses the function code field and the fault address to indicate whether it is a normal
response (no error) or an error (called an objection response). For a normal response, the slave responds with the
corresponding function code and data address or sub-function code. In response to the objection, the device returns
a code equivalent to the normal code, but the first position is logic 1.
For example, if a message sent by a master device to a slave device requires reading a set of servo driver
function code address data, the following function code will be generated:
0 0 0 0 0 0 1 1 (hex 03H)
For a normal response, the slave responds with the same function code. In response to the objection, it returns:

14 Host Debugging Instruction
1 0 0 0 0 0 1 1 (hexadecimal 83H)
In addition to the modification of the function code due to an objection error, the slave device will respond with
a one-byte exception code, which defines the cause of the exception.
After the master application responds with an objection, the typical process is to resend the message or make
a command change for the corresponding failure.
Modbus exception code

Code name Meaning
When the function code received from the host computer is an operation that is not
allowed, this may be because the function code is only applicable to the new device
01H Illegal function
and is not implemented in the device; at the same time, the slave may also process
the request in an error state.
For the servo drive, the request data address of the upper computer is an
Illegal data
02H unallowable address; in particular, the combination of the register address and the
address
transmitted byte number is invalid.
Illegal data The received data value exceeds the range of the address parameter, causing the
03H
value parameter change to be invalid.
When the RTU format CRC check bit or the ASCII format LRC check bit is different
11H Parity error from the check calculation number of the lower computer in the frame information
sent by the host computer, the check error information is reported.
14.1 System Requirements
14.1.1 System Configuration

1. When the user uses the software for the first time, please confirm whether the NET3.5 and NET4.0
frameworks are installed. This is a prerequisite; otherwise the software cannot be opened. But for Win7 and above
operating systems, there is no need to install NET 3.5 and NET 4.0 frameworks.
2. The host computer system currently supports USB communication debugging.
3. The system only supports servo SD700 series servo product debugging;
4. Verify that the "Use FIPS-compliant algorithms for encryption" option is set to disabled (Control Panel -
Administrative Tools - Local Security Policy - Security Options - Use FIPS-compliant algorithms for encryption -
disabled)
14.1.2 Connection Configuration

The servo driver is connected to the computer through the communication connector, and the interface type is
USB. Basic configuration:
1. Anti-jamming Android micro phone data cable.

1. Connection between PC and SD700 servo drive via Android micro mobile phone data cable
2. Click My Computer - Manage - Device Manager and find

3. Right-click and select "Update Driver", select "Browse calculations to find driver software"
4. Manually select the upper machine installation package file for driver installation.
5. Then the device manager appears, indicating that the installation has been
successful.
14.2 Main Interface
The main interface includes menu bar, toolbar, function display area, information bar, status bar and other
functions, as shown in the following figure;

①Menu bar
The menu bar includes functions such as files, settings, tools, advanced applications, windows, and help;
[File]: Open and exit the system;
[Settings]: user rights, service personnel rights, developer rights;
[Tools]: parameter settings, real-time monitoring, digital oscilloscope, fault information, screenshots and other
functions;
[Advanced applications]: inertia identification, JOG, program JOG, homing, mechanical characteristics, FFT
analysis, single parameter adjustment, intelligent adjustment, offset adjustment;
[Window]: Cascading display, horizontal display, vertical display, all off;
[Help]: about;
②[Toolbar]
The toolbar includes communication disconnection, communication connection, JOG, program JOG, soft reset,
factory reset, parameter setting, monitoring parameters, digital oscilloscope, fault maintenance, screenshot,
mechanical characteristics, FFT analysis, intelligent adjustment, offset adjustment, single parameter adjustment, exit
and other functions;
③Function display area
The function display area is used as a form container to provide sub-window display of reading and writing
parameters, monitoring parameters, digital oscilloscope, fault maintenance, and function debugging;
④Information columns
[Some parameters] show supplementary explanation
⑤Status bar
The status bar includes the current communication status and servo work status.
14.3 Features
（1）File
Documents include open, exit, etc.;
（2）Turn on
Open function: open the existing file;

Step:
Click the menu bar [File] -> [Open] -> [Select the current system directory folder Test32] -> [Select
VCDGSmsyc.vcb file];
（3）Exit
Exit function: Close the current system

Step:
Click [Exit] in the file column, exit the system, or click [Exit System] on the motor toolbar to exit the system.
（4）Read and write parameters
Read and write parameters include functions such as reading and writing of function codes, import, and export;
Step:
1. Start reading and writing parameters interface:
Click on the menu bar "Tools" -> "Parameter Settings"
2. The pop-up read/write parameters (parameter setting) interface is displayed in the display area, as
shown in the following figure:
1- Toolbar
The toolbar includes reading the current page function code, reading all page function codes, writing function
codes to EERPOM, exporting the current page function code, exporting all function codes, importing function codes
in batches, comparing the differences of two file parameters and finding out modified parameters, as shown below:
2-Multi page
Each page is displayed in different functional groups. At the same time, common parameters and different
parameter pages are added to facilitate viewing of function codes.
3-function code
The function code is a specific function and provides relevant information such as the current state, name,
current value, unit, default value, minimum value, maximum value, and attribute, etc. When a row is clicked, the
corresponding function code comment is provided as below;
: Waiting : Communication is normal
4─ Information column
Display parameter modification after the effective mode and function code supplementary explanation;
Function code reading
Function code reading can be read individually or in batches.
Step:
1. Current group read: switch to a group of parameters, left-click on [read] -> select [current group], read the
current group parameters

2. Read all: Left-click on [Read] -> Select [All] to read all parameters and the pop-up dialog box will display the
progress of the read function code in the form of a progress bar; as shown in the following figure:
Function code write/import

Function code writing can be individually written.
Step:
1. write individually: select a function code, click on the column corresponding to the current value, click twice
in succession, it may enter the editing state, enter the value then click on Enter, the system will automatically send a
write command, or directly click [Write] on the toolbar after editing to finish writing the parameters.
2, Steps to import in batches:
Click [Import] → [Select File] -> Click [Import], as shown in the following figure:
Function code export

Function code export can export current and all function codes;
Step:
1. Click on the toolbar icon to select the current group and complete the current group export; or select
all to complete the export of all function codes.
Find different function codes
Finding different function codes can find out the modified parameters to facilitate user analysis
Step:
1. Click on the toolbar icon to find out the modified parameters. At the same time, the pop-up dialog box
will display the progress in the form of a progress bar as shown in the following figure.
Function code comparison

Compare two sets of exported function codes
Step:
1. Click on the toolbar icon , the function code comparison file selection interface appears. Select the source
file and the target file respectively then click on [Compare], and the following interface appears. Click on Save to save
the two parameters of the two files.

14.4 Real-Time Monitoring
Real-time monitoring provides real-time monitoring of monitoring parameters and I/O status, as well as current
fault information;
Step:
1. Start the real-time monitoring interface. As shown in the figure below, the monitoring parameters are divided
into three groups. The monitoring parameters can be added to the common parameters.
2. Check the monitored parameters and monitor the servo. During the monitoring process, you can also export
and save the monitoring content.
Monitoring parameter export
The export of monitoring parameters is a way to output and save the monitoring parameters, which can facilitate
the customer to save the monitored parameters.
Step:
1. Check the monitored parameters. If you want to export all parameters in the current group, right-click in the
monitored parameters area, select All group, and then click Export. Select the save path and save the monitoring
data in the EXCEL file format.
14.5 Auxiliary Functions
14.5.1 JOG
The JOG operation is a function to confirm the operation of the servo motor by driving the servo motor at the
previously set JOG speed (rotation speed) without connecting the host device. By performing this operation
confirmation, it is possible to confirm whether or not the connection to the wire is improper and whether the servo
motor has failed.
Step:
1. Click the icon on the main interface of the host computer to enter the jog operation interface. As shown
in the left figure below, click Start, and then click forward rotation. The servo will execute forward rotation, click
Reverse, and the motor will perform reverse rotation.
14.5.2 Inertia Identification

The inertia Identification function allows the servo unit to perform automatic operation (forward and reverse
reciprocating motions), and estimates the moment of inertia of the load during operation.
Step:
1. Click [Inertia Identification]→[Next] on the host interface to enter the following interface in the inertia
identification operation process, as shown in the following figure.

2. As shown in the above figure, set the corresponding parameters according to the actual situation (usually
keep the default), and click [Next] → [Write] → [Next] → [Enable] → [Forward] → [Reverse] After the forward
rotation is repeated three times, the final inertia identification result is displayed, as shown in the following figure.
3. Click [Write]→[Next]→[Complete] to finish the inertia recognition process.

14.5.3 Program JOG

The JOG operation of the program refers to the function of executing the continuous operation in the
previously set operation mode (moving distance, moving speed, acceleration/deceleration time, waiting time, number
of movements). This function is the same as the JOG operation, and the upper apparatus is not connected during
the setting. The servo motor operation can be confirmed and a simple positioning operation can be performed.
Step:
1. Click on of the main interface of the host computer to enter the program jog operation process, and
then click on [Next] to enter the parameter adjustment interface and set related parameters as required. The detailed
interface is as shown in the figure below.
4. After setting the corresponding parameters, click on [Next] → [Write] → [Next] → [Enable] → [Execution]
→ [Next] → [Complete]. The program JOG operation process ends.
14.5.4 Mechanical Characteristics

Mechanical analysis characteristics mean that the servo unit performs automatic operation (positive and
negative reciprocating motion) without issuing an instruction from the host computer, and the function of estimating
the common vibration frequency of the mechanical system during operation is performed.
Step:
1. Click on of the main interface of the upper computer to enter the mechanical characteristics analysis
operation process, click on [Next] → [Next] to enter the parameter adjustment interface, and adjust the corresponding
parameters according to the actual situation, as shown in the following figure.

2. Click [Next] → [Write] → [Next] → [Enable] → [Forward] → [Enable] → [Reverse] → [Next] → [Complete]
to enter the mechanical properties FFT analysis interface, as shown in the figure below
2. From the above figure, you can analyze the frequency, amplitude, and phase of the resonance frequency.
Click on [Settings] to set the frequency of the first notch filter. After the setting is completed, the screen is closed.
Mechanical properties are completed.
14.5.5 FFT Analysis

EasyFFT transfers the periodic waveform commands from the servo unit to the servo motor and rotates the
servo motor slightly for a certain time to cause the vibration of the machine. The servo unit detects the resonance
frequency based on the vibration generated by the machine, and then sets the corresponding notch filter according
to the resonance frequency. The notch filter effectively removes high-frequency vibrations and noise.
Step:
1. Click on to enter the FFT measurement interface. Set the command amplitude and rotation direction in
the measurement conditions. Click to start measurement and you can measure the frequency of the first notch filter,
as shown in the figure below.
2. Click on [Start] to measure the first notch, and then click on [Write] to write the frequency of the first notch
filter.
3. Click on [Start] to measure the second notch, and then click on [Write] to write the second notch filter
frequency
4. Click on [Next] → [Done] to close the operation interface and the FFT analysis is completed.
14.5.6 Bandwidth setting

Bandwidth setting is the method of inputting a speed command or position command from the host device and
manually adjusting it while it is running. By adjusting one or two values via bandwidth setting, the relevant servo gain
settings can be automatically adjusted.
Bandwidth setting adjusts the following items.
• Gain adjustment (speed loop gain, position loop gain, etc.)
• Filter adjustment (torque command filter, notch filter)
• IF suppression control
Step:
1. Click of the main interface of the upper computer to enter the single parameter adjustment prompt
interface, click on [Next] to enter the parameter adjustment interface, select the organization selection according to
the actual situation, and select the desired mode, as shown in the following figure.
2. Click on [Next] to enter the setting interface of inertia moment ratio and set the inertia ratio (inertia ratio can
be obtained through inertia identification function);
3. Click on [Next] to enter the single parameter tuning interface as shown in the following figure
3. Click on [Adjust Start] to tune the tuning value (generally increase). During the process of increasing the
tuning value, the servo will vibrate. At this time, vibration detection will be performed automatically. If not, operation
can be performed manually, and the tuning value can be set in combination with the figure captured by the digital
oscilloscope, or 80% of the tuning value of the motor can be selected as the tuning value. Specific or combined with
the actual site requirements for adjustment settings.
4. In the tuning process, when the servo motor is vibrating, it will detect the resonance frequency and the
intermediate frequency suppression frequency. After the tuning is completed, click on [Next] to enter the auto tuning
completion interface and click on [Finish] to complete the single parameter adjustment operation.

14.5.7 Offset Adjustment

Offset adjustment is divided into two parts:
1: Speed/torque command offset (automatic/manual) adjustment
2: Motor/current detection signal offset (automatic/manual) adjustment
Step:
1. Click on the main interface of the host computer to enter the offset wizard interface. Click on [Next] to
enter the offset adjustment function selection interface, select the function you need to adjust, and click on [Next] to
enter the adjustment interface.
2. Set the adjustment method, click on [Next], click on [Finish], the offset adjustment screen closes, and the
adjustment process ends.
14.5.8 Back to Origin

The origin search is a function that determines the position of the origin pulse (Z phase) of the incremental
encoder and stops at this position.
Step:
1. Click on the main interface of the host computer to enter the origin setting wizard interface. Click [Next]
to enter the execution instruction interface, as shown in the following figure.
2. Click [Enable] to enable the servo motor to enter the enable state, and then click [Forward Run] or [Reverse
Run] to perform the origin search. After the search is completed, click [Next] to enter the back to origin setting interface
and click [Completed] to return to origin operation

14.5.9 Soft Reset (Same as Power on again)

The function could reset the servo unit from the inside by software. Used to re-power on or reset the alarm after
changing the parameter setting. It is also possible to validate the setting without turning the power back on.
Step:
Click on the main interface of the host computer to perform a soft reset operation.
14.5.10 Restoring the Factory Value

The function is used to restore the parameter to the factory setting. Parameter initialization should note the
problems as bellow:
1. Initialization of the parameter setting value must be performed during the servo OFF and it cannot be
executed during the servo ON.
2. For the setting to take effect, the servo unit must be turned on again after the operation.
Steps:
Click on the main interface of the upper computer to restore the factory value. After the operation is
completed, power it on again.
14.5.11 Fault Information

The fault information can display current faults, historical faults, causes of faults, handling measures, information
related to faults, and clearing of fault information. Click to display the following interface
According to the above information, the servo fault is repaired.

14.6 Digital Oscilloscope
Digital oscilloscopes collect data at high speeds and display them graphically to analyze data.
Steps:
1, start the data oscilloscope interface (provide two ways):
Method one: Click on the main menu of the host computer menu [Tools] -> [Oscilloscope], start the oscilloscope;
Method 2: Click the icon on the main interface of the host computer to start the oscilloscope.
3, display data oscilloscope interface, as shown below
1 - Toolbar
The toolbar includes open, save, full screen, style (switch to display background), settings, screenshots, legend,
timeline, back, forward, rewind, fast forward, zoom in, zoom out, adaptive, zero position, dot/line , measurement and
other functions
2 - Curve display area
Different curves provide visual display and measurement results for display;
3-channel setting and trigger setting
It provides channel-related parameter settings and trigger related parameter settings. Parameter setting
includes trigger condition settings and channel settings; data channel detailed functions are as follows

Data channel I/O channel
4 - Waveform display selection area

It provides selection and display of desired waveforms.

5 - Digital display of measured value
It provides display of current value, effective value, average value, maximum value, minimum value, peak value,
etc.
6 - Record button operation button
It’s used to start and stop recording
7 - Collection method selection
It’s used to choose the mode of wave recording, real-time and triggered acquisition
14.6.1 Real-Time Acquisition

Real-time acquisition is displayed in real time in the form of waveforms on the servo operating conditions.
Steps:
1. Start: Select real-time acquisition mode, set the channel settings, as shown in the figure below, then click the
record button , start recording, and the status of the icon changes to ,
2. Stop: click on the record button to stop recording, and the status of the icon changes to .
14.6.2 Trigger Acquisition

The trigger acquisition is based on the trigger condition and the acquisition cycle and makes the servo operation
status displayed in the form of a waveform.
Steps:
1. Select the trigger for the acquisition mode. After the data channel and trigger conditions are set, as shown in
the following figure, click the record button , which triggers the start of recording.
Note: After setting the trigger condition parameters, the terminal receives the trigger condition and will
automatically judge according to the conditions.
2. After the waveform to be triggered is received, the waveform will remain in the last state; the record button
will change to .
3. If you need to trigger again, you need to start recording again;

14.6.3 Graphic Operations

Graphic operations include X/Y zoom, XY label value, Y axis curve point and point display/hide and
measurement, X axis curve point and point display/hide and measurement, curve zoom in/out, curve shift, curve zero
adjustment , curve adaptive adjustment, graphics attribute settings and other functions
X axis cursor
Steps:
1. Click on the toolbar icon , the graph will automatically display the two axes of the X-axis, and the upper
right corner will automatically display the two axis values corresponding to the X-axis cursor, the difference between
the data and real time as shown in the figure below:
Y axis cursor
The Y-axis has two coordinate axes and functions are similar to the X-axis.
1. Click on the toolbar icon to check the Y axis. The graph will automatically display the two axes of the Y
axis. The two axes of the X axis cursor are automatically displayed in the upper right corner. The data difference
between the two axes is shown in the figure below:

XY digital display
There are multiple axes on the Y axis, which can be selected according to the needs. Through the measurement
function, the mouse will display the XY value of the current point in digital form as shown in the following figure.

Y axis scale display/hide

The Y coordinate scale is displayed as a fixed value, and the Y axis scale display/hide can be modified through
the toolbar settings.
Steps:
1. Click the top right corner of the oscilloscope interface and and in the Y axis option, check the label visibility
and scale visibility.
Y-axis curve display/hide
The Y-axis has multiple curves, which can be selected according to the channel. The Y-axis curve is displayed
by default.
Steps:
1. In the interface of digital oscilloscope, remove the unnecessary waveform options, and the corresponding Y-
axis curve will be automatically hidden in the graphics; for example, let the position instruction speed waveform be
hidden, remove the check signal in the corresponding options as shown in the following figure.
Curve zooms in/out

Steps:
1. Zoom in the area: Press the left mouse button and pull a zone from the upper left corner to the lower right
corner, this area can be enlarged.
2. Zoom out the area: Press the left mouse button and pull a zone from the lower right corner to the upper left
corner, this area can be reduced.
3. Zoom in curve X/Y: click on the button ;
4. Zoom out curve X/Y: click on the button ;
5. Zoom in curve X: Click on the button to decrease the time in the options.
6. Zoom out curve X: Click on the button to increase the time in the options.
7. Zoom in curve Y: Click on the gain option of the corresponding curve to decrease the gain value. As shown
in the figure below, you can adjust the gain of six Y curves.
8. Zoom out curve Y: Click on the gain option of the corresponding curve to increase the gain value. As shown
below:
Curve translation
Steps:
1. Horizontal panning of the curve: left-click on the toolbar , move left and right and move right and
left fast (Note: When you move to the right to the maximum scale point, it will no longer move to the right).
2. A single curve vertical translation: left-click and hold the corresponding curve number and drag it up and down

to perform a vertical translation.
Graphic import/export
According to the current graph, data and pictures can be exported at the same time. Only the bak format export
is supported. In addition, the exported data can be imported for viewing.
Steps:
1. Data import: Click the digital oscilloscope toolbar icon to pop up the open dialog box and find the
existing file;
2. Data export: Click the toolbar icon to pop up the save dialog and save it to the specified path.
Background:
Digital oscilloscope display area provides two backgrounds, black color and white color
Steps:
1. Click the icon on the oscilloscope toolbar to display the prompt interface. As shown in the figure
below, click OK to switch the display interface.
14.7 Others
14.7.1 Window Display

The window display is divided into: cascade, horizontal, vertical display, all off;
1. Cascade: click on the main menu of the host computer window [window] -> [cascade display];
2, level: click on the host computer interface menu bar [window] -> [horizontal display];
3, vertical: click on the main interface of the host computer menu window [window] -> [vertical display];
4. Close: Click on the main window of the host computer menu bar [Window] -> [Close all];
14.7.2 Help
It provides servo debugging software version and other information.
Steps:
Click on the menu bar [help] -> [about], the software version information appears, as shown below

Scan the following QR code to download the relevant electronic files:
SD700 Servo drive manual SD700 Servo product catalog

Sd700 Servo Manual

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Contents

I SD700 Series Servo Technical Manual

5.6 Other Output Signals ........................................................................................................ 88

II SD700 Series Servo Technical Manual

III SD700 Series Servo Technical Manual

1.1 Series Introduction

1.2 Name of Each Part of the Servo Drive

Digital display tube

Braking unit Multi-function

1 SD700 Series Servo Technical Manual

1.3 Basic Information of Servo Unit

Installation Dimensions (Part of the models)

External size(mm) Installation size(mm)

2 SD700 Series Servo Technical Manual

External size(mm) Installation size(mm)

3 SD700 Series Servo Technical Manual

150mm 150mm 150mm

4 SD700 Series Servo Technical Manual

Specifications and Electrical Parameters

5 SD700 Series Servo Technical Manual

6 SD700 Series Servo Technical Manual

Input method: common collector input, common

7 SD700 Series Servo Technical Manual

USB Computer host computer, standard, micro-

Maximum input voltage: ± 10V (motor

8 SD700 Series Servo Technical Manual

9 SD700 Series Servo Technical Manual

1.4 System Diagram

Delay Drive Voltage Temperature Gate Current

CN7 CN6 CN5

10 SD700 Series Servo Technical Manual

1.5 System Configuration Example

11 SD700 Series Servo Technical Manual

1.6 Drive Nomenclature

Field ID Field Explanation

1R1：1.1A 1R8：1.8A 3R3：3.3A

Input voltage class：

12 SD700 Series Servo Technical Manual

1.7 Maintenance and Inspection of Servo Unit

Overhaul of Servo Motor

Inspect The essentials of inspection and

Overhaul of Servo Drive

Approximate Standards for Changing Internal Parts of Servo Units

13 SD700 Series Servo Technical Manual

Smoothing capacitor 7～8 years

1.8 Motor Nomenclature

Field identification Detailed description

14 SD700 Series Servo Technical Manual

Field identification Detailed description

R05：50W R10：100W R20：200W R40;400W

R75:750W R85：850W 1R0：1.0kW 1R2;1.2kW 1R3:1.3kW

2R9:2.9kW 4R4:4.4kW 5R5:5.5kW 7R5:7.5kW 011:11kW

015:15kW 020:20kW 022:22kW 030:30kW 037：37kW

Rated speed (RPM)

D：23-Bit multi-turn absolute value optical coding

G E:24-Bit multi-turn absolute value optical coding

Q：17-Bit single-turn absolute value magnetic coding

R：17-Bit multi-turn absolute value magnetic coding